OpenWater-TorpedoSinglebeamSonar

This scenario starts with a TorpedoAUV near a submarine. This is identical to the base version, only with a sonar mounted. Octree leaf size is 2cm. Unless otherwise specified, all sensors are named the same as their class name, ie IMUSensor is named “IMUSensor”.

  • auv0: Main TorpedoAUV agent

    • IMUSensor configured with noise, bias, and returns bias.

    • GPSSensor gets measurements with N(1, 0.25) of the surface, actual measurement also has noise.

    • DVLSensor configured with an elevation of 22.5 degrees, noise, and returns 4 range measurements.

    • SinglebeamSonar configured with an opening angle of 30 degrees, 200 range bins, noise, and a range from .5 to 30 meters.

    • DepthSensor configured with noise.

    • PoseSensor for ground truth.

    • VelocitySensor for ground truth.

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