Tweet
Autonomous Treasure Hunter
This is a project I have been working on for the past nine months.
Background
A few years ago I became focused on treasure hunting after being lucky enough to track down a 100kg plus hoard. Ever since I wondered if it is possible to stack the odds of success in your favour; is it possible to locate treasure using maths and science, is there a special formula, method or technology that can give you an advantage.
Micro Survey Vessel
When I started on this project it was my intension to build an autonomous electric glider for aerial photography. On close examination of autonomous flight I came to the conclusion it was not going to be of sufficient benefit. Instead I decided on constructing an autonomous boat with sensor carrying barges. The aim is to search difficult places in shallow water that people look at and think, its too hard. Shallow water areas in Europe are interesting because many ancient settlements now lay just a few feet below the water surface. This is the result of three factors, a preference for settlements near the waters edge, parts of Europe sinking due to the ending of the Ice Age and rising sea level.
Precision Multi Layer Analysis (PMLA)
PMLA as described here at the time of writing refers to data that has a 3d shape in WGS84 coordinate system, where Z values are manipulated to represent the form of sensor information. The software that enables the analysis of this spatial data type is from the CAD family.
Data types of interest are Precision Proton Magnetometer (PPM) data and Pulse Induction (PI). A PI detector set to locate all metals, and a Precision Proton Magnetometer (PPM) only detecting iron, the PPM data canceling out the iron signals in the PI data.
RTK GPS
In order to achieve PLMA the physical location of the data needs to be survey quality or the data will be too degraded to be of any benefit. Imagine trying to match data for different days which is a couple of meters out. At 2-5 cm accuracy 90% of the time the job should be clear cut, thats what RTK GPS should provide. A base station receiving GPS carrier phase information will calculate corrections, then transmit them to a roving receiver. RTK is the pivotal technology for collecting data, tying it all together.
Technology Situation
General
The PI detector I have set up for the first trails will be an Infinium by Garrett. Its waterproof, but the main draw back is the difficulties in making or acquiring coils greater than 14 inches. I intend to switch to a Whites TDI preferably a waterproof version if it is released. The benefits of the TDI is it can accept a wide rarity of coils and is suitable for DIY coils.
Work on the boat structure is complete. A data logger, GPS receive, autopilot and PI detector have all been hooked and are under going testing. I'm waiting for the power unit and Kort Nozzle setup which will drive the boat. Its a system specifically for tugs, very efficient at low speeds.
RTK GPS
I have worked on RTK machine grader systems out in Australia, I know how to use them their capabilities, pit falls, and the prohibitive costs. 80% of the cost though is artificial and probably has less than 2-5 years before the prices come crashing down.
SweetGPS written by Steve Waslander was one of the first open source RTK softwares. I looked at it last year and approach Steve about upgrading it. Before we had time to sit down and sort out tasks a bomb was going off in the world of open source RTK GPS.
The Laboratory of Satellite Navigation at Tokyo University of Marine Science and Technology has now released an open source RTK suite with an English manual.
T.Takasu and A.Yasuda the authors of the software have produced virtually everything that is needed to develop your very own RTK system
http://gpspp.sakura.ne.jp/rtklib/rtklib.htm
Paper on the development of low cost RTK
http://gpspp.sakura.ne.jp/paper2005/...tklib_revA.pdf
The low cost RTK project ($400)
http://gpspp.sakura.ne.jp/rtklib/rtklib_beagleboard.htm
Evaluation of L1 antennas and receivers
http://gpspp.sakura.ne.jp/anteva/anteva.htm
Analysis Software
http://gpspp.sakura.ne.jp/gpstools/gt_release.ht
The downside is that current low cost technology is not at a point where a mobile vehicle can solely use RTK-GPS for precise position. The time when it will be possible is very close due to improving technology and the convergence of the latest changes to the three constellation systems.
New L1 Receivers to be tested
Novatels OEMStar GPS receiver comes into production this month, replacing the Superstar II which was discontinued this summer. Price approx $180
U-blox LEA6-T is expected to be in production in the first quarter of 2010. Price approx $180
I started setting up the data logger only to find out the version I have can not manipulate GPS data. Was able to send it back in exchange for its big brother which can do a whole lot more.
Analysis Software
This is a very powerful software which can be used to model data in 3d, its also free
[URL="https://wci.llnl.gov/codes/visit/home.html%5Bsize=Font"]https://wci.llnl.gov/codes/visit/home.html size]
Information Sort
An explanation of the data that I am logging, its from the headphones jack?
Is it possible to log other data?
I want to build a Overhausser magnetometer, is it possible?
If you have any comments and recommendations don't hold back, even if they are negative.
This is a project I have been working on for the past nine months.
Background
A few years ago I became focused on treasure hunting after being lucky enough to track down a 100kg plus hoard. Ever since I wondered if it is possible to stack the odds of success in your favour; is it possible to locate treasure using maths and science, is there a special formula, method or technology that can give you an advantage.
Micro Survey Vessel
When I started on this project it was my intension to build an autonomous electric glider for aerial photography. On close examination of autonomous flight I came to the conclusion it was not going to be of sufficient benefit. Instead I decided on constructing an autonomous boat with sensor carrying barges. The aim is to search difficult places in shallow water that people look at and think, its too hard. Shallow water areas in Europe are interesting because many ancient settlements now lay just a few feet below the water surface. This is the result of three factors, a preference for settlements near the waters edge, parts of Europe sinking due to the ending of the Ice Age and rising sea level.
Precision Multi Layer Analysis (PMLA)
PMLA as described here at the time of writing refers to data that has a 3d shape in WGS84 coordinate system, where Z values are manipulated to represent the form of sensor information. The software that enables the analysis of this spatial data type is from the CAD family.
Data types of interest are Precision Proton Magnetometer (PPM) data and Pulse Induction (PI). A PI detector set to locate all metals, and a Precision Proton Magnetometer (PPM) only detecting iron, the PPM data canceling out the iron signals in the PI data.
RTK GPS
In order to achieve PLMA the physical location of the data needs to be survey quality or the data will be too degraded to be of any benefit. Imagine trying to match data for different days which is a couple of meters out. At 2-5 cm accuracy 90% of the time the job should be clear cut, thats what RTK GPS should provide. A base station receiving GPS carrier phase information will calculate corrections, then transmit them to a roving receiver. RTK is the pivotal technology for collecting data, tying it all together.
Technology Situation
General
The PI detector I have set up for the first trails will be an Infinium by Garrett. Its waterproof, but the main draw back is the difficulties in making or acquiring coils greater than 14 inches. I intend to switch to a Whites TDI preferably a waterproof version if it is released. The benefits of the TDI is it can accept a wide rarity of coils and is suitable for DIY coils.
Work on the boat structure is complete. A data logger, GPS receive, autopilot and PI detector have all been hooked and are under going testing. I'm waiting for the power unit and Kort Nozzle setup which will drive the boat. Its a system specifically for tugs, very efficient at low speeds.
RTK GPS
I have worked on RTK machine grader systems out in Australia, I know how to use them their capabilities, pit falls, and the prohibitive costs. 80% of the cost though is artificial and probably has less than 2-5 years before the prices come crashing down.
SweetGPS written by Steve Waslander was one of the first open source RTK softwares. I looked at it last year and approach Steve about upgrading it. Before we had time to sit down and sort out tasks a bomb was going off in the world of open source RTK GPS.
The Laboratory of Satellite Navigation at Tokyo University of Marine Science and Technology has now released an open source RTK suite with an English manual.
T.Takasu and A.Yasuda the authors of the software have produced virtually everything that is needed to develop your very own RTK system
http://gpspp.sakura.ne.jp/rtklib/rtklib.htm
Paper on the development of low cost RTK
http://gpspp.sakura.ne.jp/paper2005/...tklib_revA.pdf
The low cost RTK project ($400)
http://gpspp.sakura.ne.jp/rtklib/rtklib_beagleboard.htm
Evaluation of L1 antennas and receivers
http://gpspp.sakura.ne.jp/anteva/anteva.htm
Analysis Software
http://gpspp.sakura.ne.jp/gpstools/gt_release.ht
The downside is that current low cost technology is not at a point where a mobile vehicle can solely use RTK-GPS for precise position. The time when it will be possible is very close due to improving technology and the convergence of the latest changes to the three constellation systems.
New L1 Receivers to be tested
Novatels OEMStar GPS receiver comes into production this month, replacing the Superstar II which was discontinued this summer. Price approx $180
U-blox LEA6-T is expected to be in production in the first quarter of 2010. Price approx $180
I started setting up the data logger only to find out the version I have can not manipulate GPS data. Was able to send it back in exchange for its big brother which can do a whole lot more.
Analysis Software
This is a very powerful software which can be used to model data in 3d, its also free
[URL="https://wci.llnl.gov/codes/visit/home.html%5Bsize=Font"]https://wci.llnl.gov/codes/visit/home.html size]
Information Sort
An explanation of the data that I am logging, its from the headphones jack?
Is it possible to log other data?
I want to build a Overhausser magnetometer, is it possible?
If you have any comments and recommendations don't hold back, even if they are negative.
Comment