Q2: Use navigation sensors to track an AUV with acoustic transceivers and DVL Q2.1. We have two acoustic hydrophones to detect the sound transmitted from the AUV. As shown in the figure below, the range to the AUV measured by the #1 hydrophone is 200m and by #2 hydrophone is 215m, and the baseline, b, is 20 meters. What is the vertical and horizontal distance between the AUV and hydrophone #1?. The equation that will be used is in Topic-4 presentation. (show full calculation steps)

Q2.2. The AUV is equipped with a DVL that transmits sound at 1MHz. The beam angle is 22.5 degrees. The AUV is moving at a speed, u, of 2 m/s. As presented in the lecture, we can separate it into two components, one along the sound transmission of #1 beam on the DVL, one is perpendicular to the sound transmission. Question: now let’s separate u relative to beam #2, draw the two components in the figure and compute the magnitude of the two components.