Development of Underwater Acoustic Autonomous Vehicle System with Acoustic Application
Date Issued
2015
Date
2015
Author(s)
Chuang, Sheng-Yu
Abstract
The main purpose of this article is developing a multifunctional underwater acoustic platform base on an autonomous underwater vehicle (AUV). In AUV control, the sensors like sonic range-finder, pressure sensor, accelerometer and compass would send back the environment and the attitude information, these data would feedback to the thrusters and rudders to fix the position and direction of the AUV. When the AUV floating up to the water surface, GPS would calibrate the course of AUV again. The navy transducer was used here to be the active SONAR, it can transmit single frequency signals or chirp signals in the system. The sound files in the flash disk is also allowed to be played. In the part of the passive SONAR, this platform not only can be an underwater sound recorder but an acoustic repeater. In some special cases, other hydrophones could be expanded to get higher quality sound data. The platform in this article is designed to module structure. The frame is made by aluminum extrusion. The batteries and equipment were taken apart into two pressure tanks, which could be combined as a longer one with a connector. The single-chip processor, myRIO, which was made by National Instruments (NI) was used to the platform main controller because of its mult-channel and easy to use. The computer language in this article is LabVIEW, which also developed by NI. The AUV in this article was tested at the water tank in ESOE, NTU. The data of the AUV control and the SONAR application was applied in the article to help the further researches.
Subjects
AUV
Underwater acoustic
Mobile source
Type
thesis
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