Sweet. So I think DVL and INX (on the YUCO) seemed to be enough for many applications. Perhaps a good start. I wonder if the INX has anything special besides “proprietary” fusion algorithms. What is the furthest your UUV/AUV usually goes from the deployment location?
Hi @bryan3D
Typically, the AUV travels 1-2km from where its deployed, we have typically had a chase boat (motorised canoe - mainly engine off drifting) waiting for it to surface and then go and pick it up
Scott
Very cool… I asked because I’m designing an acoustic-modem and this would play in to the TX power required to communicate at 2km+. Acording to my calculations there should be enough SNR for 5km range.
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Hi @bryan3D
That’s something I would love to see a smart bouy style thing (GPS + Modem = LBL)
Have you seen
Ahoi Opensource Underwater modem
Wayu (and associated) Long Baseline Acoustic Positioning
UnetStack
BlueBuzz (Git)
Also worth looking at Open Echo Universal open-source sonar development stack
Scott
Yep, I’m playing with Remus’ (100, 600 and 300) these days. $250k is probably about right for a 100 with base software. Unfortunately I dont think they are being manufactured anymore. Costs go up for better mission planning tools.
I am still dreaming of my own AUV, but it’s on the back burner until I can get a self-righting boat done first.
I would also probably use more reasonably priced components like from Cerulean Sonar instead of WL. If you put something in the ocean, be prepared to lose it…and I dont have the budget to lose an $8000 DVL on top of everything else.
Great point – it may never return. Worse case is if it drowns. If it gets to the surface I hope it will return to me by pinging Iridium.
A profesor I know recently ordered a REMUS100 (or 300?) which was about $800kUSD.
Celurean’s DVL might be good enough. I really haven’t looked at their specs with details. Haven’t heared anyone say anything good or bad of them.
LBL shuld be easy to do assuming there is a working a-modem on the AUV. I like the Wayu idea. Had’t seen that one before.
On the modem’s side, yes, I had seen all of these except for the git link you sent for the BlueBuzz. The transformer they are using was one of the missing pieces of my concept. I have played with UnetStack a little bit and is what I was thinking of using on the Rpi.
Open echo is also great for object avoidance.
There are too many subprojects… not sure where to start.
Are you looking at specific requirements? Or is it just for fun?
They both have their own requirements that I have set for myself, but they are just for fun. Mostly tech and proof of concept demonstrators for some future work-related software options.
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@bryan3D
My 2 cents here and not trying to push my “concept” (I do believe the design it will be better with multiple inputs and multiple use cases) of a Modular BlueROV AUV but as I see it, use as much as possible of standard equipment and software systems as possible (but with an eye to the future) to shorten it’s development path to get something out there which can be used as a starting point to then build additional steps upon. (eg swap out lateral thruster for fins)
I see this as just sort of a step up from the current ROV (basically just cutting the cord)
The only real “hardware” changes (aside from hydrodynamics) away from the Standard BlueROV are
- GPS added (already able to be integrated into Navigator and already in BlueBoat)
- DVL (multiple brands already integrated in BlueOS)
- SSS [as a payload so not core AUV] (a single brand already integrated in BlueOS)
- LoRa – Yet to be integrated into the Blue Robotics universe
- Mast / Beacon Signal Lighting (really just an extension of the Subsea RGB LED)
On the Software Side I feel most of the lower-level stuff is already in place to automatically do a simple mission (once the cord is cut ROV → AUV and it knows it location). I have some concerns as to aborts and higher level functions (collision avoidance)
RE DVL’s I am a bit brand agnostic but sort of strongly suspect a little better performance can be got out of them (Waterlinked standard 1% accuracy to its Performance 0.1% is only software) (If I was making a semi educated guess, I would just suggest it is some better moving point averaging filtering perhaps with feedback as to what the motors are doing).
I would also be in part looking at the cost of a combo DVL + beacon cost (ie a little more cost effective DVL with passing by location corrections form a USBL or LBL). Sort of consider 4 smart buoys for LBL (your suggested US$400 x 4 = US$1600) and a Kogger micro DVL (US$1300) corrections each pass so maybe 400-600m prior to positional corrections if 1km lanes
Scott
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Wow, those Kogger.tech prices are really good and they have some compact designs. Documentation seems a bit lacking though. I may have to toss some money their way.