Abstract
This paper presents the design and development of a modular littoral autonomous underwater vehicle called “ZYRA” having six degrees of freedom for performing the following tasks underwater: target (sound sources emitting frequencies between 1 Hz and 180 KHz) localization and homing, buoy detection. The development of the AUV has been divided into, namely, five sections: mechanical design and fabrication, embedded and power systems, control and software, image processing, and underwater acoustics. A fully functional AUV has been tested in a self-created arena with different tasks spread out in a shallow water environment. Two different kinds of experimental results have been presented: first the experimental results of the SONAR module and second based on the number of successful outcomes per total number of trials for each task.
Highlights
Autonomous Underwater Vehicle is powerful and complex system which is capable of performing underwater tasks
The localization task is a sequential task in which first we calculate a set of values of time difference of arrival (TDOA) using the hydrophone signals and using these values we estimate the bearing and the position vector of the sound source with respect to the AUV
For the experimental testing of the AUV, an arena is created in a shallow water area and the tasks of entry gate detection, buoy detection, path detection and sound source are spread throughout the arena
Summary
Autonomous Underwater Vehicle is powerful and complex system which is capable of performing underwater (shallow and deep sea) tasks. For the target (sound source or pinger) localization, the AUV employs a three-dimensional array of hydrophones forming a passive SONAR system. The localization task is a sequential task in which first we calculate a set of values of time difference of arrival (TDOA) using the hydrophone signals and using these values we estimate the bearing and the position vector of the sound source with respect to the AUV. For the experimental testing of the AUV, an arena is created in a shallow water area and the tasks of entry gate detection, buoy detection, path detection and sound source are spread throughout the arena. The percentage error in the range calculated by the SONAR module and the actual range at different distances from the sound source are displayed
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