High-Resolution Side-Scan Mapping Of Large Areas Of The Mid-Atlantic Ridge Using A Fleet Of Autonomous Underwater Vehicles (AUVs)

In April 2010 three REMUS6000 series autonomous underwater vehicles (AUVs) have been used to simultaneously map large areas near the Mid-Atlantic Ridge (3°N) axis in water depths ranging from 1,000m to 4,000m. One vehicle was provided by the Leibniz-Institute for Marine Science, IFM-GEOMAR (Kiel, Germany) the other two were provided by the Waitt Institute for Discovery (La Jolla, USA) and managed by the Woods Hole Oceanographic Institute (USA). The REMUS6000 vehicles, manufactured by Hydroid Inc. (USA), are "cigar-shaped" vehicles (4m long and weighing approx. 900kg) and consist of a tapered forward section, a cylindrical midsection and a tapered tail section. An internal titanium strongback, which extends through much of the vehicle length, provides the structural integrity and acts as a mounting platform for syntactic foam, equipment housings, various sensors and release mechanisms. The AUVs can be used in various payload configurations such as multibeam bathymetry, electronic still camera, or subbottom profiler. For these missions the electronic still camera configurations was installed. An EDGETECH 2200M dual frequency (120/410 kHz) side scan sonar was used to map the seafloor, but other frequencies are readily available for more options in resolution and range. The 120 kHz side scan transmitter was used for most missions in order to map large areas (increased range) and to be able to fly at higher altitudes (between 70m and 90m) above the rough seabed encountered in this area. The maximum slant range was between 600m and 700m on both sides resulting in a swath width of up to 1.2 km. Line spacing ranged from nearly 1,000m in flat areas down to 400m in steep terrain. Side-scan mosaics were generated with a 1m resolution. Selected areas were targeted by the higher resolution 410 kHz transmitter as well as by bottom photographs flying as low as a few meters above the seabed. The vehicles navigated autonomously using a combination of inertial navigation (Kearfott T-24 or T-16 INS) and long baseline acoustic navigation by computing their range to two moored acoustic transponders. Working efficiently in this rough topography at speeds above 3 knots was only possible due to the obstacle avoidance capabilities of these AUVs.