High Resolution Mapping with AUVs: Payload Development issues in Support of Oceanographic Science

The Monterey Bay Aquarium Research Institute (MBARI) is developing a high-resolution deepsea mapping capability to be deployed on the Dorado AUV. Dorado is a modular, 21” diameter, torpedo shaped vehicle that consists of a nose section with core sensors and computers, a tail section with propulsion and steering, and a variable length mid-body section including mission-specific sensors and data logging equipment. The primary component of this seafloor mapping system will be a 200 kHz multibeam sonar. The planned survey capability includes highresolution bathymetry (1 degree X 1 degree beam widths) for sonar altitudes from 2 m to 200 m and a depth rating of 6000m. The deployment of a multibeam sonar on an AUV is a significant challenge because none of the currently available sonars meet the power, size, and weight constraints imposed by the vehicle. MBARI is working with Reson Inc. and Bluefin Robotics to develop a new, low-power multibeam sonar which can be readily incorporated into a 21” diameter cylindrical Dorado mid-body, along with ancillary sensors and data logging equipment. The ROV Ventana will be used for initial testing of the mapping midbody package. MBARI plans to begin field testing of the AUV-mounted mapping system in early 2002. The Dorado platform is a new class of autonomous underwater vehicle (AUV) that MBARI (in partnership with other institutions) is developing for the oceanographic science community. This vehicle class is a multi-purpose platform with a range of capabilities and sensors intended to further the use of AUVs by science. This paper will highlight the importance of those additional sensors and the requirements associated with tightly integrating AUV systems for science.