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cs:hydrophones:start [2019/02/21 19:31] Christofer Freeberg |
cs:hydrophones:start [2019/02/21 19:50] Christofer Freeberg [Hydrophones] |
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- | ====== Hydrophones ====== | + | ==== 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 [[cs:hydrophones:pinger_bearing:start|Pinger Bearing]]. | 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 [[cs:hydrophones:pinger_bearing:start|Pinger Bearing]]. | ||
====== Testing Procedure ====== | ====== Testing Procedure ====== | ||
- | Materials: | + | ==Materials:== |
- | 1 tub of water | + | * 1 tub of water |
- | 1 pinger | + | * 1 pinger |
- | Hydrophone Test Rig | + | * Hydrophone Test Rig |
- | 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 | ||
- | Pinger at one end of tub | + | ==Procedure:== |
- | + | - ssh into the sub | |
- | hydrophones at other end of tub | + | - roslaunch robosub cobalt.launch |
- | + | - rosrun robosub pinger_bearing | |
- | If lots of noise in readings observed, can place towels around tub | + | - rostopic echo /hydrophones/bearing |
- | + | - Manipulate hydrophones & Observe bearing readings | |
- | Procedure: | + | |
- | 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 | + |