Perception System
Binocular Vision
The USV uses the ZED2i – a durable, versatile and powerful IP66-rated Rolling Shutter camera designed for spatial analytics and immersive experiences. It is powered by Neural Depth Engine 2, has a high-performance IMU and a robust aluminum structure to withstand harsh conditions.
Paired with a YOLO model, the ZED2i stereo camera is used for accurate object detection and capture of three-dimensional point cloud information to derive coordinates and depth.
Global Positioning System - GPS
Our GPS module uses the Hemisphere R632 GNSS receiver, chosen for its multi-satellite system support (GPS, GLONASS, BeiDou, Galileo), RTK capability and multiple methods of connectivity and wireless communications. It offers worldwide stand-alone positioning to 4cm and have a heading accuracy of up to 0.01 degrees.
The GNSS receiver is paired with the Hemisphere A25 Antenna. The A25 is has millimeter accuracy in land and marine applications, has superior multi-path mitigation, stable phase center and strong SNR’s even at low elevations. Its rugged aluminum housing is pretreated for marine use, withstanding salt, fog, and spray.
By processing the NMEA information received from the GNSS receiver to obtain latitude and longitude, we can then use the Haversine formula to convert them to local coordinates for accurate navigation with respect to the course.
Hydrophone
The Teledyne Reson TC4013 boasts the following properties: High sensitivity, Omnidirectional to high frequencies, Broad banded, O-ring sealed mounting and are individually calibrated. It detects the digital data of acoustic signals allows us to determine their frequencies and locate the sound emitter of interest.