Key Components and Features
Hydrus Key Components and Features
Hubless Thrusters
Hydrus' multi-directional propulsion system uses hubless magnetic-driven thrusters. Together with the vehicle control response system, the thrusters enable manoeuvrability and control during autonomous operations and provide stabilisation in presence of surge or currents. The thrusters are user replaceable and allow for straightforward part replacement without the need to disassemble or modify the central hub of the vehicle.
Doppler Velocity Log
The DVL measures Hydrus's velocity relative to the surrounding water by analysing the Doppler shift in acoustic signals. It provides real-time information on speed and direction, allowing Hydrus to estimate its movement underwater. The DVL compensates for the absence of the GNSS signals and helps in dead reckoning navigation, where Hydrus's previous position, velocity, and orientation are used to estimate the current position. The DVL's contribution to ground tracking is that it plays a crucial role in aiding Hydrus's ability to maintain a desired track. The DVL provides real-time information that can be used for closed-loop control algorithms to adjust the trajectory of Hydrus and maintain tight line-keeping.
GNSS
Hydrus contains a GNSS (GPS) receiver to enable a position to be established when Hydrus is out of water.
Note: The GNSS function is only operational when Hydrus is out of the water.
AI-Powered Navigation System
Hydrus is equipped with a variety of sensors such as gyroscopes, accelerometers, magnetometers, pressure sensor, Doppler velocity log (DVL) and Global Navigation Satellite System (GNSS) receiver to provide precise information on position, velocity, and attitude. These sensors form the Inertial Navigation System (INS) for Hydrus. To enhance velocity measurements, the onboard Doppler Velocity Log (DVL) is tightly integrated with the INS. Additionally, the onboard GNSS serves the purpose of obtaining an initial position when the vehicle is above water. When combined with Subsonus, the INS receives continuous position updates through acoustic communication.
Note: Note: It is recommended to use Hydrus with a Subsonus USBL when accurate positioning over extended periods of operation are required.
Pressure Sensor
The Pressure sensor in Hydrus is used to measure the pressure exerted by the surrounding water whilst in operation. This sub-component plays a vital role in determining the depth of a system. By measuring the pressure, the sensor can calculate the corresponding water depth, which is essential for accurate navigation and localisation in underwater environments.
Transponder
When used with a Subsonus USBL, the Hydrus transponder provides acoustic communication for improved positioning and to enable communications whilst Hydrus performs a mission.
Subsonus is a next generation USBL underwater acoustic positioning system that provides high accuracy position, velocity and heading hundreds of metres underwater. The system features an industry leading calibrated hydrophone array combined with an internal tightly coupled INS.
| Function | Description |
|---|---|
| Acoustic Positioning | Subsonus uses Ultra-Short Baseline (USBL) acoustic positioning. This technique involves measuring the time it takes for an acoustic signal to travel from a transponder (like the one on the Hydrus) to a receiver (on the Subsonus system). By using multiple receivers, the system can determine the position of the transponder. |
| Data Transmission | Subsonus can also transmit data acoustically. This is done by modulating the acoustic signal in a way that encodes the data. The transponder on Hydrus can then demodulate this signal to retrieve the data. |
| Network Link Feature | Subsonus has a network link feature that allows it to communicate with other devices on the same network. This can be used to share data between Subsonus systems or multiple Hydrus vehicles. |
| Configuration | Subsonus can be configured to track specific devices, use different data protocols, and adjust various other settings. This allows it to be tailored to the specific needs of the operation. |
Smart Lighting System
Hydrus is equipped with a powerful dynamic LED lighting system that ensures optimal image and video capture in underwater environments.
4K 60FPS Camera
Hydrus is equipped with an advanced camera system that provides high-quality imaging and video capabilities.
EPD Screen
A pressure tolerant, ultra low power E-ink screen provides clear and concise information to the user.
Wi-Fi
Wi-fi is used for configuration, mission planning and data payload download. Hydrus supports two types of Wi-Fi connections:
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Access Point mode - Where a user will connect directly from a laptop, tablet or smart phone to Hydrus. This is recommended for quick and easy configuration and deployment.
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Networked (or Station mode) - Where Hydrus will be configured to connect to an existing Wi-Fi network. The user will then connect to the same network to establish communications. This is the recommended configuration for regular use, and required when used in conjunction with a Subsonus USBL.
Power Supply
Hydrus relies on a lithium-ion battery as its primary power source. The lithium-ion battery offers several advantages, including high energy density, lightweight design, and long cycle life. These batteries provide the necessary electrical energy to power the various systems and components onboard Hydrus, including the propulsion system, sensors, communication devices, and computer. It is important to consider the battery capacity and plan missions accordingly to ensure that Hydrus can complete its objectives without exhausting the battery.
Wireless Charging
Hydrus utilises the Qi® EPP (Extended Power Protocol) standard for wireless charging. This ensures compatibility and optimal charging performance when using Qi® charging pads or stations. Qi® charging technology allows for wireless charging of the Hydrus lithium-ion battery. This eliminates the need for physical battery access, ensuring integrity and protection against water ingress.
Buoyancy
Hydrus is designed to be positively buoyant (floating in water), and is configured to operate in standard ocean conditions (water density of 1.025 kg/L).
Note: If you should need to operate Hydrus in liquids of significantly different density, Hydrus may require a modified buoyancy configuration. Contact support@advancednavigation.com to discuss your operating conditions such that a suitable modification can be determined.
Software Extensibility
With its open software platform architecture, Hydrus is able to integrate your custom software as a payload, offering full access to the camera, sensors, navigation, modems and control.