2221_UnderwaterLocalization

Project for the localization of an underwater module. Demonstration here.

Table of Contents

• General Information
• Technologies Used
• Features
• Configuration
• Usage
• Project Status
• Improvements
• Contact

General Information

This project revolves around an onboard electronic card designed to store measurement data about the movement of an underwater module through an inertial unit and a pressure sensor. This aims to mathematically locate it from its starting point (reference). This is crucial because underwater localization isn't an easy task, especially given the various underwater communication constraints, notably that electromagnetic waves do not propagate easily there.

Technologies Used

• MPLAB Harmony v2_06
• Microcontroller - PIC32MX130F256D
• Inertial Unit - Bosch BNO055

Features

• Saving a data set every 100ms.
• Maximum usage depth of 60m.
• 2 hours of logging onto an SD card.
• Sensing on 9 axes:
  • 3-axis accelerometer.
  • 3-axis gyroscope.
  • 3-axis magnetometer.
  • Temperature sensor
  • Depth gauge [0->10bar] [Res 1/10]
  • 3 to 5 free MikroE slots for additional measurements.
• Capability to save location of points of interest via: Saving button [To be defined: Magnetic, Optical, Mechanical or other].
• Battery with a minimum autonomy of 2 hours.
• Battery charging via USB connector.
• Data reading through USB connector (Electronic interfacing, software optional in this version).
• LED Interface.

Configuration

The electronic card must be assembled considering the manufacturing files and the BOM (Bill of Materials). The firmware then needs to be implemented into the PIC microcontroller, and an SD card should be inserted to read the movement data.

Usage

The firmware code needs to be flashed using MPLAB-X with harmony onto the microcontroller of the produced PCB. To do this, there's a BERG programming connector. Once the code is flashed, the underwater module can be used, and provided an SD card is inserted, movement data will be saved in CSV format.

Project Status

The project is completed, but improvements can always be made.

Improvements

To do:

• [DONE] SCK VALID ONLY AT PIN 14 instead of 20
• [DONE] CHANGE U2TX PIN (PIN14) TO ANOTHER PIN
• [DONE] EXTERNAL OSCILLATOR MUST BE CONNECTED AS SECONDARY OSCILLATOR AND NOT PRIMARY
• Review multiplexer system (choice of CS polarity).

Contact

Created by Ali Zoubir: ali.zoubir@etml-es.ch