文档介绍：Design of an Active Acoustic Sensor System
for an Autonomous Underwater Vehicle
Minh Tu Nguyen
Bachelor of Engineering Honours Thesis
1st November, 2004
Supervisor
Associate Professor Thomas Bräunl
Mobile Robotics Lab
Centre for Intelligent Information Processing Systems
School of Electrical, Electronic puter Engineering
The University of Western Australia
Letter of Transmittal
Minh Tu Nguyen
4 Exeldia Place
Belmont, WA 6104
1st November 2004
The Dean
Faculty of Engineering, Computing and Mathematics
University of Western Australia
CRAWLEY WA 6009
Dear Professor Mark Bush,
It is with great honour that I submit this thesis, entitled “Design of an Active Acoustic Sensor
System for an Autonomous Underwater Vehicle” as partial fulfilment of the requirements of
the degree of Bachelor of Engineering with Honours.
Yours faithfully,
Minh Tu Nguyen
i
Abstract
Unstructured oceanic environments present great challenges to AUV navigation. However,
with continual improvements in sensor technology, new methods of navigating hazardous
underwater terrain are far more effective than ever before.
To date, much research has focused on maximising the functionality of AUVs at the expense
of cost. In contrast, this thesis aims to develop an active acoustic sensor system that
determines the distance an obstacle or landmark is from an AUV, while optimising cost
efficiency. Although this has been plished essfully on land-based autonomous
vehicles, these systems have not been implemented on AUVs. The focus is to design a system
that consists of four distance sensors directed to the port, starboard, bow and downward side
of the AUV.
The sensor system is custom-made using low prising mercially
available Navman Depth 2100 transducer and the LM1812 ultrasonic transceiver chip. The
processing of sensor data