User Tools


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

  • 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
  1. ssh into the sub
  2. roslaunch robosub cobalt.launch
  3. rosrun robosub pinger_bearing
  4. rostopic echo /hydrophones/bearing
  5. Manipulate hydrophones & Observe bearing readings