Introduction to Sub

Sub is an advanced open-source autopilot system for submersible ROVs (Remote Operated Vehicle) that supports multiple vehicle configurations. It offers a variety of operating modes from fully manual to fully autonomous.

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Vehicle Configuration Options

  • Sub supports both brushed and brushless, uni-directional or bi-directional propulsion motors/thrusters

  • 3/4/5/6 or 8 thruster configurations controlling up to all 6 degrees of vehicular motion and axial rotation

  • Pilot control and telemetry via cable tether to a Ground Control Station (GCS) using joystick, button, and/or keyboard commands, or

  • Pilot control and telemetry via radio control to tethered surface buoy

  • Position and Depth Control using optional depth sensor, GPS while surfaced, Sonars, or Shore/Support Vessel based acoustic beacon locators

  • Leak, Temperature, and internal Pressure sensor options for vehicle safety

  • Ethernet vehicle peripheral connectivity option for sophisticated sensors like Side Scan sonars

  • 100’s of ArduPilot compatible autopilots to choose from

  • Optional Linux based companion computer interface to autopilot for image processing, beacon data processing, sonar displays in the GCS, custom applications, etc.

  • Analog and Digital Video camera and OSD (On Screen Display) support

  • Optional Buoyancy Control instead of vertical thrusters/neutral buoyancy

  • Optional Grabber for object retrieval or manipulation

Swim Features

  • Automatic Attitude Stabilization, Depth Control, Position Control (assuming configuration and installed sensors allow it)

  • Fully Autonomous Missions, see Mission Planning

  • Configurable Failsafes for system component failures, see Failsafes

  • Subsurface Terrain Following and Surface Tracking, see Sub Modes

  • Extensive GCS Button Action Support, see Button Inputs in Sub