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patrickelectric merged 2 commits into from
Jun 30, 2025
Merged

Update sonars+positioning info #59

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content: integrations: hardware: positioning: update links + options
ES-Alexander Jun 30, 2025
81319c4
content: integrations: hardware: sonars: update cerulean options
ES-Alexander Jun 30, 2025
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11 changes: 6 additions & 5 deletions content/integrations/hardware/additional/positioning-sensors/index.md
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@@ -1,7 +1,7 @@
+++
title = "Positioning Sensors (GPS / DVL)"
description = "Allows waypoint and target-based navigation, position holding, and location-tagged data collection."
date = 2022-10-11T17:33:19+11:00
date = 2025-07-01T02:09:45+08:00
template = "docs/page.html"
sort_by = "weight"
weight = 10
Expand All @@ -25,7 +25,7 @@ The [autopilot](/introduction/hardware-options/required-hardware/autopilot.md) h

## GPS Module

ArduSub maintains the same [GPS module drivers](https://ardupilot.org/copter/docs/common-positioning-landing-page.html) as the rest of the ArduPilot family of firmwares, so a compatible GPS module may be directly connected to the GPS port on the autopilot. Positioning information will only be available when the vehicle is on the surface and the module is out of the water. The module will not be able to obtain a fix if it is underwater due to high frequency radio waves being unable to penetrate the water medium.
ArduSub maintains the same [GPS module drivers](https://ardupilot.org/sub/docs/common-positioning-landing-page.html) as the rest of the ArduPilot family of firmwares, so a compatible GPS module may be directly connected to the GPS port on the autopilot. Positioning information will only be available when the vehicle is on the surface and the module is out of the water. The module will not be able to obtain a fix if it is underwater due to high frequency radio waves being unable to penetrate the water medium.

Acoustic positioning systems are the only reliable way of providing positioning information underwater.

Expand All @@ -40,7 +40,7 @@ SBL systems can produce better positioning accuracy in highly reflective environ

### Supported SBL Systems

* [Water Linked Underwater GPS Explorer Kit](https://store.waterlinked.com/underwater-gps/)
* [Water Linked Underwater GPS Explorer Kit](https://waterlinked.com/shop/underwater-gps-g2-standard-kit-132#attr=19)

## USBL Positioning Systems

Expand Down Expand Up @@ -68,8 +68,9 @@ The relative positioning estimates from a DVL system mean the estimate is prone

### Supported DVL Systems

* [Water Linked DVL-A50](https://store.waterlinked.com/product/dvl-a50/?hsCtaTracking=b79feacb-c824-4524-b3e0-2f6513163a7f%7C44cc28cf-75a8-4e25-ac64-ee6bc3e9e5e8)
* [Cerulean Sonar DVL-75](https://ceruleansonar.com/products/dvl-75?variant=32632308760642)
* [Water Linked DVL-A50 / DVL-A125](https://bluerobotics.com/store/the-reef/dvl-a50/)
* [Cerulean Sonar Tracker 650](https://ceruleansonar.com/product/tracker650/)
* [Teledyne Wayfinder](http://www.teledynemarine.com/Wayfinder)
* [Nortek Nucleus1000](https://www.nortekgroup.com/products/nucleus1000)

There is a comparison of some common DVLs in [this forum comment](https://discuss.bluerobotics.com/t/dvl-recommendations/10775/2#comparisons-1).
2 changes: 1 addition & 1 deletion content/integrations/hardware/additional/sonars/index.md
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Expand Up @@ -40,6 +40,7 @@ Only the Blue Robotics Ping360 Scanning Sonar is fully integrated with the ArduS
{{ easy_image(src="ping360", width=350) }}

* [Blue Robotics Ping360 Scanning Imaging Sonar](https://bluerobotics.com/store/sensors-sonars-cameras/sonar/ping360-sonar-r1-rp/) ([USB, RS485, or Ethernet](https://bluerobotics.com/learn/changing-communications-interface-on-the-ping360/))
* [Cerulean Omniscan 450](https://ceruleansonar.com/imaging/) ForwardScan / SideScan / Compact (Ethernet + [BlueOS Extension](https://docs.bluerobotics.com/BlueOS-Extensions-Repository/#:~:text=SonarView,-Maintainer))

The following scanning sonars have been installed on ArduSub vehicles:
* [Tritech Micron Sonar](https://www.tritech.co.uk/product/small-rov-mechanical-sector-scanning-sonar-tritech-micron) (RS485 connection through tether)
Expand All @@ -50,7 +51,6 @@ The following scanning sonars have been installed on ArduSub vehicles:
Multibeam imaging sonars are similar to mechanically scanning sonars in that they acoustically image targets in a top-down 2-dimensional representation. However, with multiple sonar beams the refresh rate is much higher presenting a real-time image of what is in front of the vehicle.

The following multibeam sonars have been installed on ArduSub vehicles:
* [Cerulean Omniscan 450](https://ceruleansonar.com/pages/omniscan-product-page) ForwardScan and SideScan (Ethernet + [BlueOS Extension](https://docs.bluerobotics.com/BlueOS-Extensions-Repository/#:~:text=SonarView,-Maintainer))
* [Blueprint Subsea Oculus Series Multibeam Sonars](https://www.blueprintsubsea.com/oculus/) (Ethernet)
* [Tritech International Gemini 720im Multibeam Sonar](https://www.tritech.co.uk/product/gemini-720im) (Ethernet or RS485 connection through tether)
* [Tritech International Gemini 720ik Multibeam Sonar](https://www.tritech.co.uk/product/gemini-720ik) (Ethernet)
Expand Down