Sample Hydrophone Data

[kandoi]

Hey Guys,

Would any of the teams be so kind to share their hydrophone recording from an actual pinger (in pool/water). My team is especially looking for multi-channel hydrophone data, ie. recorded using an array of hydrophones (configurations of these hydrophones is known, eg: placed on the corners of a square of 1.85cm etc). I am trying to get a time difference of arrival based algorithm to work.

I'd would appreciate if one of the participating team or the people hosting this challenge can share such multi-hydrophone data.

[Daveman]

I know we recorded pingers at TRANSDEC for the Virtual RobotX challenge. However, I wasn't able to find them with a quick look.

[Hitesh Patel]

Daveman the recording were for a different project, which never came to fruition.

Previously, Stephen Cronin had made some sample data available on a google drive, but that is no longer available.

For teams that have such sample data available, I would encourage you to share it with the rest of the community. Thank you.

[bumblebee]

Hi Kandoi,

Hope that you might find this useful. Here are 4 data sets that we collected at TRANSDEC in RoboSub 19.

https://drive.google.com/open?id=1Y9...0vyP1s4sflSw-R

Our hydrophones are placed on the corners of a 15mm square. The centre of the square is our origin (pt of reference). Our sampling rate is 250,000 samples per sec. The rows of the CSV files represent the voltages (-12v to +12v) of hydrophones 1 to 4, followed by the sample index.

Hydrophone Id	X (mm) from origin	Y (mm) from origin
1	7.5	7.5
2	-7.5	7.5
3	-7.5	-7.5
4	7.5	-7.5

Based on our calculations, we obtained the following results.

frequency	Azimuth (degs) [Clockwise, 0 degs is forward]	Elevation (degs from horizon) [0 degs may imply that the pinger is too far away]	Data set
25k	338	0	#1
30k	155	36
35k	15	38
40k	144	0
25k	325	0	#2
30k	152	35
35k	15	37
40k	143	0
35k	254	0	#3
25k	310	50	#4
30k	144	8
35k	338	5

Please do share with us if you find any discrepancies in our calculations.

[kandoi]

Thanks bumblebee for the data. I'll let you know my results in a few days.

[nathan.renegar]

Hi Kandoi,

Hope that you might find this useful. Here are 4 data sets that we collected at TRANSDEC in RoboSub 19.

https://drive.google.com/open?id=1Y9...0vyP1s4sflSw-R

Our hydrophones are placed on the corners of a 15mm square. The centre of the square is our origin (pt of reference). Our sampling rate is 250,000 samples per sec. The rows of the CSV files represent the voltages (-12v to +12v) of hydrophones 1 to 4, followed by the sample index.

Hydrophone Id	X (mm) from origin	Y (mm) from origin
1	7.5	7.5
2	-7.5	7.5
3	-7.5	-7.5
4	7.5	-7.5

Based on our calculations, we obtained the following results.

frequency	Azimuth (degs) [Clockwise, 0 degs is forward]	Elevation (degs from horizon) [0 degs may imply that the pinger is too far away]	Data set
25k	338	0	#1
30k	155	36
35k	15	38
40k	144	0
25k	325	0	#2
30k	152	35
35k	15	37
40k	143	0
35k	254	0	#3
25k	310	50	#4
30k	144	8
35k	338	5

Please do share with us if you find any discrepancies in our calculations.

Hello bumblebee,

Thank you for contributing your data. I was wondering if you guys did any analog front-end signal conditioning on this data (e.g. a bandpass filter, etc).

[bumblebee]

Hello bumblebee,

Thank you for contributing your data. I was wondering if you guys did any analog front-end signal conditioning on this data (e.g. a bandpass filter, etc).

Hi Nathan,

Yes, the signal was obtained after passing it through a first order highpass filter with a corner freq of 50Hz, followed by an 8th order low pass filter with corner freq of 50KHz.

Hope this was helpful.