http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-03T13:42:52-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2017-10-07T20:14:23-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/hydrophones/pinger_bearing/start?rev=1507432463&do=diff Pinger Bearing This page describes the math used to calculate our bearing towards the pinger using our hydrophones. A solution is derived in 2 dimensions to show how it works, then the final result from that is extrapolated to 3 dimensions. The speed of sound of water is defined as $c_s$$H_0$$(0,0)$$H_x$$(x,0)$$H_y$$(0,y)$$H_x$$t_x$$H_y$$t_y$$H_0$$t_0$$H_x$$H_0$$H_x$$H_0$$H_x$$d_x = c_s(t_0 - t_x)$$H_0$$H_y$$d_y = c_s(t_0 - t_y)$$H_0$$H_0$$i,j$$$ \begin{bmatrix} \hat{i} \\ \hat{j} \end{bmatrix…