Perception and navigation
Two Basler cameras read objects and light signals; Ouster LiDAR measures obstacle geometry. Dual F9P receivers provide position and antenna-baseline heading, including while stationary.
Rotatable view of the supplied USV 2.0 GLB assembly, with source materials retained in a web-optimised export.
Use your mouse or trackpad: drag to rotate, scroll to zoom.Drag to rotate. Pinch to zoom. With the model focused, use arrow keys to rotate, + or - to zoom, Home to reset, and Escape to leave the model.
- Thrusters
- 4
- Cameras
- 2
- LiDAR coverage
- 360 °
- GNSS receivers
- 2
Two stern, two angled
Independent Basler views
Ouster scanning LiDAR
Position and heading
How it works.
What changed from USV 1.0
A new surface build combines four thrusters, 360° LiDAR and paired cameras for closer control around task equipment. Water delivery replaces the earlier ball launcher, while radio and acoustic links connect the three-vehicle fleet.
Propulsion and control
Two stern thrusters provide forward drive; two diagonal T200s add lateral force. Custom allocation is in development to combine all four for forward, sideways and turning commands.
Power and protection
Our distribution board supplies electronics separately from propulsion. The safety design inhibits actuators while keeping computers and sensors powered for fault diagnosis.
Communications
Shore radio carries network traffic, SiK links to the UAV, and an M16 modem links to the submerged UUV. Raw camera and LiDAR data stays onboard.
Onboard autonomy
The Jetson separates geometric collision checks from object classification. Route planning handles transit; a precision controller is in development for close positioning. Obstacle avoidance need not depend on recognising an object.
Acoustic sensing
An analogue front end conditions four hydrophone signals for pinger localisation. Arrival-time differences indicate direction. This passive sensing system is separate from the underwater communications modem.
Water delivery
A pump feeds the forward nozzle. The control design combines visual alignment and vessel positioning to aim the jet, with target response confirming completion.
What’s on board.
Platform
- BlueBoat twin-hull platform
- Custom weatherproof electronics enclosure
- Deck-mounted sensors and communications
Propulsion
- Two axial stern thrusters
- Two diagonal BlueRobotics T200 thrusters
- Custom ribbed thruster mounts
Power system
- Custom 12 V, 5 V and 3.3 V distribution board
- Separate propulsion and electronics branches
- Compute power retained during actuator inhibit
Control system
- BlueRobotics Navigator with Raspberry Pi 4
- ArduRover vehicle control
- Custom four-thruster allocation in development
Navigation
- Two Holybro H-RTK F9P GNSS receivers
- Moving-baseline heading
- Continuous local odometry for control
Onboard computer
- NVIDIA Jetson Orin NX
- Onboard perception and route planning
Perception sensors
- Ouster OS0 scanning LiDAR
- Two Basler ace 2 colour cameras
- Separate geometric obstacle processing
Passive acoustics
- Four Aquarian AS-1 hydrophones
- Custom four-channel analogue front end
- MCC USB-1808X simultaneous acquisition
Communications
- airMAX shore radio link
- 433 MHz SiK link to the UAV
- WaterLinked M16 Extended acoustic modem
Water delivery
- DC pump and forward nozzle
- Water intake and hose assembly
- Vessel positioning for nozzle alignment
Software
- ROS 2 and Nav2
- SmacPlanner2D and Regulated Pure Pursuit
- Precision docking controller in development
Safety and status
- Latched actuator-permission circuit (design)
- Contactor-based power isolation (design)
- Status light tower