This is an old revision of the document!
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.
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:
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