ppt课件-direction finding sonar systemfor autonomous submarine（测向自治潜艇声纳系统）.pptVIP

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2017-01-25 发布于四川
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ppt课件-direction finding sonar systemfor autonomous submarine（测向自治潜艇声纳系统）.ppt

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* * * * * Direction-Finding Sonar System for Autonomous Submarine Estee Amana, Nicole Rennalls, Mitcham Costley, Frederick Ealick ECE Department Georgia Institute of Technology ECE4007 L01 October 22, 2008 Project Overview Submarine Autonomous Underwater Vehicle Georgia Tech Marine Robotics Group Navy SEAL Practice Pool Navy Competition 2009 Launch Platform Practice Side Competition Side Bridge Rooftop Rooftop Mission To build sonar system under $400 to complete “Rooftop” task for competition Design Objectives Detect Ping Frequency: 20-30kHz 2s 1.3ms 60° Determine Direction Top View Direction of Motion MRG Group Sonar Group RS-232 Communication Physical Constraints Length 5” Width 5” Depth 2” Voltage 24VDC Current 2A t1 t2 t1 t2 Time Delay Receiver #1 Receiver #2 Technical Approach Sonar System Block Diagram Hydrophones Pinger Variable Gain Amplifier ADC Measure Time Delay RS232 Linux SBC Hydrophones Hydrophones Pinger Variable Gain Amplifier ADC RS232 Linux SBC Measure Time Delay Hydrophone Construction Transducer Metal Casing Metallic Membrane Coaxial Cable Cost: $150 Amplifiers Hydrophones Pinger Variable Gain Amplifier ADC RS232 Linux SBC Measure Time Delay Filtering Amplifier Design and Testing Four stage amplifier circuit Band pass filter to remove noise μV V Cost: $50 Amplification Incoming Hydrophone Signal Outgoing Amplified Signal Linux SBC Hydrophones Pinger Variable Gain Amplifier ADC RS232 Linux SBC Measure Time Delay Sonar System Controller Receives 1000 samples/channel Averages 10 highest 10 lowest samples Determines time delay Cost: $150 Cross-correlation V Time (sec) V2 Auto-calibration Goal: Eliminate error from submarine design changes, trace lengths, etc. Hydrophone Submarine Pinger Direction of motion Demonstration Hydrophones Waterproof PVC Pipe Pinger GT Pool Laptop Serial Cable Electronics Current Status Construct and test amplifier prototype Implement existing embedded code Build hydrophones Construct amplifier on solder board Te