USBL System for AUV Navigation

I initially configured this USBL system for a collection of NAVSEA's DREWUVs, which do not have an internal navigation system. I wrote a Python script and fabricated cables to send and receive acoustic signals and GPS messages in order to maintain an accurate position of the AUV throughout its mission as strong currents push it off its course.

The USBL system consists of a Teledyne Directional Acoustic Transponder (DAT-915) and a GPS on the boat, and a Teledyne Remote Omnidirectional Transducer (TC1026) and Compact Modem Board (CM-900) inside the DREWUVs.

The transponder is secured to the boat under the surface of the water, and communicates with the transducer acoustically. My Python program utilizes serial communications to prompt the transponder to receive the range and bearing of the AUV and to read NMEA GPGGA messages from the GPS. It then calculates the latitude and longitude of the AUV, which is sent back to the transponder. The transponder then sends this information to the AUV at configurable intervals so that its position remains updated.

I also fabricated cables to facilitate these serial communications and configured and troubleshooted each instrument for this application.