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Hydrophones
Our hydrophones are a powerful tool for figuring out where we are in the water. Using 4 hydrophones, we can calculated our bearing to the pinger. For details, see Pinger Bearing.
Testing Procedure
Materials:
1 tub of water
1 pinger
Hydrophone Test Rig
Test Rig:
Pinger at one end of tub
Hydrophones at other end of tub
If lots of noise in readings observed, can place towels around tub
Procedure:
ssh into the sub
roslaunch robosub cobalt.launch
rosrun robosub pinger_bearing
rostopic echo /hydrophones/bearing
Manipulate hydrophones & Observe bearing readings