Passive Sonar Triangulation System

The sonar system is divided into two parts:

• Sonar DAQ system (on Beaglebone)
• Sonar processing system (on TX2)

The systems communicate using ZMQ; Sonar DAQ runs a ZMQ command server (port 6868) to forward commands to preprocessor. It also publishes all serial data over a ZMQ publisher (port 6969).

All procecssing is done using a particle filter. The filter requires an initial estimate and std deviation. The filter returns the best particle (location of pinger) and the covariance of the filter.

Building the code

Beaglebone Specific Code

Make sure all dependencies are installed. Check Beaglebone Setup Guide. Debugging information can be enabled to allow for debugging through GDB by setting the DEBUG flag to 1.

cd beaglebone
mkdir build && cd $_
cmake [-DTESTS=0/1] [-DDEBUG=0/1] ..
make

ROS Based code

Compile with catkin_make

Running the code

Beaglebone Data Acqusition Server

Run beaglebone/run.sh

ROS node

Run roslaunch au_sonar sonar.launch. Start the particle filter by publishing to /sonar/ctrl topic.

Simulator mode

Run roslaunch au_sonar sonar_sim.launch

GUI

Run rosrun au_sonar sonar_gui.py

Sonar node details

Topics

• /topic/sensor/sonar/output: "/sonar/output": output of sonar system
• /topic/sensor/sonar/ctrl: "/sonar/ctrl": used to enable and disable the particle filter
• /topic/sensor/sonar/debug: "/sonar/debug": debug data used by sonar GUI

Documentation

• Sonar Simulator
• Wiring Guide
• Preprocessor documentation
• Preprocessor communication interface
• Beaglebone Setup Guide
• Beaglebone Internal Pinout