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Triton's hydrophone system uses four Reson TC4013 piezoelectric elements to detect incoming sound waves. The elements output electrical signals to an analog front-end circuit board. This board provides pre-amplification, filtering, variable gain amplification and analog-to-digital conversion. Eight Microchip MCP6S21 variable gain amplifiers (VGAs) provide up to 40 dB of software adjustable gain on each channel. The signals from the VGAs are sampled at 2 MHz with 12 bits of resolution using two AD7266 ADCs. These ADCs use a proprietary SPI protocol to communicate with a Blackfin digital signal processor (DSP), which lies on a separate circuit board within the hydrophone enclosure. The DSP estimates the heading and azimuth of the sound source and sends this information to Triton's computer. |
Depth Sensor
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The depth sensor board converts analog pressure data to provide real-time information about the craft's depth below the surface of the pool. |
Cameras
Triton uses two cameras, one forward facing and one downward facing.
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Forward: A Logitech QuickCam Pro for Notebooks webcam is used for the vehicle's forward vision. |
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Downward: An AVT Guppy F-046 Color CCD Camera is used for the vehicle's downward vision. |
Orientation Sensor
Altimeters
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Two Tritech PA500 altimeters provide distance to the nearest forward wall and bottom. |
TCM-2 Compass
| A TCM-2 compass provides heading data for the controller |
