TSR-900 Echosounder
TSR-900 Echosounder
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The TSR-900 is a compact, coherent single-beam echosounder designed for seamless integration into autonomous surface vessels (ASVs), small AUVs, and shallow-water robotic platforms operating to 50 m depth (transducer limit).
Built on the proven signal architecture of our TSR-1000 Echosounder, the TSR-900 delivers high-quality, pin-to-ping coherent sonar data in a lightweight OEM form factor — ideal for robotics developers, system integrators, and research teams building next-generation marine autonomy.
Why TSR-900?
Why TSR-900?
The TSR-900 generates in-phase (I) and quadrature (Q) data of the returned acoustic signal, enabling:
Precise depth and range measurement
Sub-centimetre resolution (8 mm at 200 kHz class)
Detection of micro-motion in stationary targets
One-dimensional current profiling
Advanced signal processing and custom workflows
The same coherent architecture is used in our TSR-1000 Echosounder platform , providing a clear upgrade path from shallow-water development to full industrial deployment.
Designed For Integration
Designed For Integration
The TSR-900 is a board-level OEM product supplied with a 200 kHz transducer, ready for integration into:
Autonomous Surface Vessels (ASVs)
Small inspection ROVs
Shallow-water AUVs (<50 m)
Hydrographic robotics platforms
Academic and experimental sonar systems
The TSR-900 uses RS-422 full duplex communications and a compact 6-pin header interface, making electrical integration straightforward for embedded system designers.
Power requirements are minimal (12 V nominal, ~100 mA class consumption ), ideal for battery-powered robotic systems.
Compatible with open-source Pingviewer software
Compatible with open-source Pingviewer software
The TSR-900 operates directly with open-source PingViewer software, enabling:
Real-time bottom tracking
Range visualization
Adjustable gain and ping parameters
Logging and replay
Ping1D driver for 200 data points, 8 bit magnitude output
TSR driver for 1 cm resolution, 16 bit magnitude output.
Open Protocol for Developers
Open Protocol for Developers
For advanced users, the TSR-900 supports our open communications protocol, allowing:
Raw I/Q data access
Custom filtering and decimation
Python integration examples (available on our GitHub)
Full autonomy stack integration
Raw Sonar Data Signal Analysis
Raw Sonar Data Signal Analysis
Sonar can be configured and data collected using provided Python code enabling advanced sonar signal analysis. Data can be collected up to four times the transducer frequency.
Seamless Upgrade Path
Seamless Upgrade Path
When projects move from prototype to industrial deployment, the TSR-900’s protocol compatibility allows direct transition to the fully integrated, 900-meter rated TSR-1000 Echosounder — without rewriting control software.
This means:
Same commands
Same data format
Same signal philosophy
1000 meter transducer depth rating
Industrial underwater housing
Underwater connectors
Typical Applications
Typical Applications
ASV bathymetry and depth holding
AUV altitude control
Shallow-water inspection robotics
Marine research platforms
Embedded sonar experimentation
Education and robotics labs
The TSR-900 is not just a depth sensor — it is a coherent acoustic measurement platform designed for teams who want access to real sonar data, not just processed numbers.
Whether you are building autonomous navigation algorithms, performing seabed monitoring, or integrating sonar into a robotics stack, the TSR-900 provides a clean, open, and scalable foundation.
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