An autonomous vehicle for geological exploration: sensor payload and mission analysis

Analysis of possible geological missions for an autonomous underwater vehicle, including assessment of its sensor payload and of the terrain over which it might operate, will define the operational requirements of the autonomous vehicle. During most surveys, the vehicle will be `flown´ at a constant height above the seabed or at a constant depth below the sea surface. Analysis of seafloor topography and operating conditions suggests that it may need to climb at up to 45° and operate in currents of 0.5 m s^-1. For most applications, a post-processed horizontal navigational accuracy of about 50 m will be required. Sensors are divided into two categories, core and optional. Permanently fitted core sensors include sidescan sonar and bathymetric survey systems and high-resolution seismic magnetometers, chemical sensors, CTD and acoustic Doppler current profilers