AquaPing - Underwater Altimeter Telemetry & Visualization

AquaPing is a modular, field-deployable underwater altimeter telemetry system that transmits real-time depth measurements using a Ping1D sonar and Delphis acoustic modem to a surface receiver (e.g., a boat). Designed for marine research, seabed profiling, and underwater robotics, AquaPing combines robust hardware and Python-based control software for both ends of the communication link.

AquaPing is a complete underwater telemetry and visualization platform featuring:

• 🔽 Real-time depth acquisition using a Ping1D sonar
• 🌊 Underwater acoustic transmission to surface using Delphis modem
• 📈 Live PC interface (PyQt5 GUI) to visualize and record altimeter data with ascent/descent speed estimation & GPS tagging

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✨ Key Features

🎯 Depth Accuracy	📡 Acoustic Link	🔁 Retry Handling	🖼️ Real-time Plot	⏱️ Speed Tracking
Ping1D sonar for precise altimetry	Delphis modem for data uplink	LED-coded error retry & auto reconnect	PyQt5 live plot with zoom	Instantaneous & average speed (m/min)

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🔧 Project Structure

🧪 Repository Structure

AquaPing/
├── transmitter/              # Raspberry Pi underwater unit
│   └── echo_altimeter.py     # Main altimeter control script
│
├── receiver/                 # Boat-side PC GUI application
│   ├── receive_data_v1/v2.py # Data reception and processing
│   └── requirements.txt      # GUI dependencies
│
├── 3d_models/                # Printable hardware components
│   └── battery_housing.stl   # Electronics enclosure
│
├── docs/                     # Documentation resources
│   ├── wiring_diagram.png    # Full connection schematic
│   ├── system_diagram.png    # Architecture overview
│   ├── photos/               # Hardware images
│   │   ├── unit_assembled.jpg
│   │   ├── internals.jpg
│   │   └── deployment.jpg
│   ├── datasheets/           # Technical specifications
│   │   ├── ping1d.pdf
│   │   └── delphis.pdf
│   └── ui_screenshot.png     # GUI preview
│
├── LICENSE              # Copyleft License
└── README.md                 # This documentation

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🧰 Hardware Components

Component	Description
🎯 Ping1D	Altimeter sonar sensor from Blue Robotics
🧠 Raspberry Pi	Pi Zero / 3 / 4 for control & processing
🔊 Delphis Modem	Underwater acoustic modem for data transmission
🔋 Power Supply	8.4V Battery(2S) with 5V Regulator
💡 LED Indicator	GPIO-controlled LED for transmission feedback
🖨️ 3D-Printed Parts	Enclosure, brackets, mounts

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⚡ Wiring Diagram

📌 Full-size diagram in docs/wiring_diagram.png

Device	Pi Connection
Ping1D TX →	GPIO 15 (UART RX)
Ping1D RX →	GPIO 14 (UART TX)
Status LED →	GPIO 12
Delphis Modem	USB Serial
Power Supply	8.4V → Regulated 5V

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📸 Equipment Photos

Altimeter	Modem	Assembled Unit

More in docs/photos

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✨ Key Features

Feature	Description
🎯 Depth Accuracy	±1cm up to 100m range
📶 Transmission	0-300m depth
🔋 Power	5V DC, ~1W average consumption
🛠️ Enclosure	Acrylic enclosure waterproof housing
📊 Data Output	CSV, JSON, and terminal display

⚡ Wiring Guide

Ping1D (UART) ↔ Raspberry Pi:
    TX -> GPIO 15 (RX)
    RX -> GPIO 14 (TX)
    GND -> GND

Delphis Modem ↔ Raspberry Pi:
    USB-A ↔ USB Micro-B

Status LED:
    + -> GPIO 12
    - -> GND

📸 Hardware Photos

🛠️ Software Installation

Transmitter (Underwater Unit)

# Install dependencies
sudo apt update
sudo apt install python3-pip python3-serial
pip3 install brping pyserial

# Enable UART
sudo raspi-config nonint do_serial 0
sudo reboot

# Start Program
python3 echo_altimeter.py

🔁 Auto-start on Boot

Save the following to /etc/systemd/system/aquaping.service:

Description=AquaPing Altimeter Service
After=network.target

[Service]
ExecStart=/usr/bin/python3 /home/pi/AquaPing/transmitter/echo_altimeter.py
Restart=always
RestartSec=20
User=pi
WorkingDirectory=/home/pi/AquaPing/transmitter

[Install]
WantedBy=multi-user.target

Then run:
sudo systemctl daemon-reload
sudo systemctl enable aquaping.service
sudo systemctl start aquaping.service

Receiver (Surface Unit) Connect Delphis modem via USB and run:

# Install dependencies
pip3 install pyserial matplotlib  # For basic plotting
pip install pyserial pyqt5 matplotlib numpy

# Start Program
python3 receive_data_V1/V2.py

Expected output:

Received: $U001082,92
Depth: 0.82 m | Confidence: 92%

📌 Quick Start

# Transmitter (RPi underwater unit)
cd sonar && python3 echo_altimeter.py

# Receiver (Boat computer)
python3 receive_data_v1.py/receive_data_v2.py

## 🚀 Deployment Guide
1. Assemble hardware in waterproof enclosure
2. Power up transmitter unit
3. Deploy in water (ensure antennas are vertical)
4. Start receiver software on boat computer
5. Monitor depth readings in real-time

⚠️ Troubleshooting

Issue	Solution
No depth readings	Check UART connections
Failed transmissions	Verify modem dip switches
High noise	Increase distance from propellers

📚 Documentation

• Ping1D Manual
• Delphis Modem Specs
• System Schematic

📜 License

Copyleft License - See LICENSE for details.

👨‍💻 Maintainer

Muhammed Nabeel
Research Engineer
Mubadala Arabian Center for Climate and Environmental ScienceS (ACCESS)
📍 NYU Abu Dhabi 📧 mnm9857@nyu.edu