JIT's sensor and periscope systems provide the vehicle with navigation, underwater perception, optical imaging, and surface communication capabilities. The current configuration combines multiple acoustic sensors with a low-light camera and a surface periscope that houses the vehicle's GNSS, wireless communication, and remote-control systems. The periscope allows JIT to maintain communication and obtain GPS positioning while the main vehicle remains submerged.
The periscope is a key design feature of JIT and is listed as a novelty of the vehicle. It extends above the water while the main vehicle remains submerged, providing a mounting location for the communication and surface-navigation equipment. This configuration allows JIT to maintain a connection with the ground station and obtain accurate GNSS positioning without requiring the entire vehicle to surface.
The Ubiquiti Bullet Wi-Fi antenna provides wireless communication between JIT and the ground station during testing, as well as communication with the USV during competition tasks. The antenna allows the vehicle to be controlled and monitored while operating at the surface and provides a communication link for testing and vehicle operations.
The SparkFun SAM-M8Q GNSS receiver provides JIT with localization information while the vehicle is operating at the surface. The receiver is mounted at the top of the periscope to maintain an unobstructed view of the sky while the remainder of the vehicle remains submerged. This allows JIT to obtain reliable GNSS measurements without requiring the main vehicle to surface.
The Nano ELRS receiver receives radio-control commands from the ground station's remote controller. The receiver allows operators to manually control JIT while the vehicle is at the surface and provides an interface for initiating autonomous operations and activating the emergency-stop system.
The WaterLinked A50 Doppler Velocity Log (DVL) provides JIT with velocity measurements relative to the seafloor. The DVL determines vehicle motion by analyzing changes in the distance between successive acoustic measurements of the seafloor. This provides an additional source of velocity information for localization and is particularly important during submerged operation or in environments where GPS is unavailable.
The Blue Robotics Ping360 imaging sonar provides JIT with long-range underwater perception and situational awareness. The sonar allows the vehicle to observe its surrounding environment acoustically, maintaining visibility even in conditions where water turbidity limits the effectiveness of optical cameras. During testing, the sonar will also be used to collect mapping data to support continued development of JIT's perception and autonomy systems.
The Cerulean sonar provides additional acoustic sensing in front of JIT and is used to collect more detailed information about the environment ahead of the vehicle. This sensor complements the wider-area coverage provided by the Ping360 and provides more precise forward-facing data for perception and environmental mapping.
The low-light HD camera provides JIT with optical imaging capabilities during underwater operation. The camera is intended to collect video during competition and testing to evaluate the effectiveness of optical perception in underwater environments and determine how it can complement the vehicle's acoustic sensing systems.
