User Tools
Differences
This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision | Next revision Both sides next revision | ||
|
cs:hydrophones:multilateration:start [2017/09/14 00:19] Brian Moore [Full Solution] |
cs:hydrophones:multilateration:start [2017/09/14 00:23] Brian Moore [Depth Sensor Substitution] |
||
|---|---|---|---|
| Line 173: | Line 173: | ||
| $$ | $$ | ||
| - | Which requires only 4 hydrophones, $h_0,h_1,h_2,$ and $h_3$ plus the depth sensor measuring $z_{sub}$ to compared against the known depth of the pinger $z_pinger$. | + | Which requires only 4 hydrophones, $h_0,h_1,h_2,$ and $h_3$ plus the depth sensor measuring $z_{sub}$ to compared against the known depth of the pinger $z_{pinger}$. |
| However, the depth sensor will always measure the absolute depth of the submarine regardless of the submarine's orientation $R(\psi,\phi,\theta)$. Thus the difference measured will always be $z_{pinger}-z_{sub} = Z_{global}$. | However, the depth sensor will always measure the absolute depth of the submarine regardless of the submarine's orientation $R(\psi,\phi,\theta)$. Thus the difference measured will always be $z_{pinger}-z_{sub} = Z_{global}$. | ||
