College - Author 1

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Department - Author 1

Computer Engineering Department

Degree Name - Author 1

BS in Computer Engineering



Primary Advisor

Christopher Clark


Experiements were performed to determine the effectiveness of the Lotek RT-A Hydrophone system and if it could provide the data necessary for a particle filter to determine the location of a shark. Over the period of a few months, we tested off the Cal Poly Pier at set GPS coordinates to characterize how accurately the Lotek System can determine range and orientation. Ranges from 0-500 meters were tested with the Lotek system being in a stationary position and Lotek receiver tag being put at specified GPS coordinates. The two hydrophone rigging was then rotated a full 360 degrees to gauge if the system could accurately determine orientation and range. While signal strength is an indication of range, it was determined the Lotek device could not predict range soley on signal strength alone. Target orientation, direction of signal, was found by analyizing the incoming data which was on a scale of -9 to 9 with -9 being closest to port's 1 position and 9 being closest to port's 2 position. Target orientation data was found to be both accurate and percise. The Lotek system will be able to effectively determine direction of the target but range will have to heavily rely on the particle filter to weight all incoming data properly to determine actual range to the target.

Included in

Robotics Commons