Autonomus Subsea Drone Project

Project description

Autonomus subsea vehicle capable of independent underwater navigation. It uses a Rasperry Pi4 computer for calculating location, course, distance, etc. and uses this to control rudders and thruster. Feedback is given from various sensors, most importantly compass, tilt sensors, gyro, depth sensor and GPS sensor (for surface navgation and position correction).

Spesification

Physical

Length : 2.6 meters

Diameter : 260 mm

Speed : 5 knot

Dive depth : 60 meters

Electronics

Computer : Raspberry Pi4

GPS location : Yocto-GPS-V2

Gyro/accelerometer : Yocto-3D

Depth sensor : BAR30, BlueRobotics

Compass : Yocto-3D

Servo control : Yocto-Servo

Leak sensor : SOS

Power

Power bank : 18V lithium battery

Converter : 18V --> 5V DC/DC

Low voltage sensor : Yocto-Volt

Propulsion & Control

Servos : Towerpro MG966R

Thruster : T200, BlueRobotics

Rudders : RL Design

Software

Writen in Python

Servo and thruster control module

Navigation module