This document discusses Kongsberg Maritime's autonomous underwater vehicles (AUVs) including Seaglider, MUNIN, HUGIN, REMUS 100, REMUS 600, and REMUS 6000. It provides specifications for each, describing their depth ratings, payloads, power sources, endurance, and other key features. Application areas are also listed, and considerations for operating AUVs in shallow water like positioning, attitude control, and launch/recovery are covered. The document focuses in particular on the MUNIN AUV and its modular, reconfigurable design.

1. KONGSBERG PROPRIETARY: This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing. Any authorised reproduction in whole or in part, must include this legend. © 2014 KONGSBERG – All rights reserved.
KONGSBERG MARITIME Autonomous Underwater Vehicles
Richard Mills
Product Sales Manager AUVs
Email: richard.mills@km.kongsberg.com
KONGSBERG PROPRIETARY. This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing.
Any authorised reproduction in whole or part must include this legend © 2012 KONGSBERG – All rights reserved.

2. Kongsberg Maritime AUVs
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SEAGLIDER: Advanced long range glider
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Depth Rating: 1000 m
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Payload: water column, ADCP, hydrophone plus options
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Power Source: primary Lithium battery
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Endurance: up to 10 months
MUNIN: Modular low-logistics commercial AUV
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Depth Rating: 1500 m (600 m option)
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Payload: EM2040, SSS, CT, (SBP & Camera option)
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Power Source: rechargeable/swappable Lithium Ion battery
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Endurance: 12 to 24 hours
HUGIN: Most capable AUV for commercial, research or defence
•Depth Ratings: 3000, 4500 or 6000 m
•Payload: HISAS, SSS, SBP, MBES, CTD, Camera plus options
•Power Source: swappable Lithium Polymer batteries
•Endurance: up to 75 hours

3. Kongsberg Maritime AUVs - Hydroid
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REMUS 100: World leading small AUV
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Depth Rating: 100 m
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Payload: SSS, ADCP, CTD, Bathymetry, Environmental
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Power Source: rechargeable Lithium Ion battery
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Endurance: ~8 hours
REMUS 600: Highly versatile modular AUV
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Depth Rating: 600 or 1500 m
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Payload: SSS, SBP, MBES, ADCP, CTD, Camera plus options
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Power Source: rechargeable Lithium Ion battery
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Endurance: ~24 hours
REMUS 6000: From littoral to deep
•Depth Ratings: 4000 or 6000 m
•Payload: SSS, SBP, MBES, ADCP, CTD, Camera plus options
•Power Source: swappable Lithium Ion battery
•Endurance: ~16 hours

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What Are Our AUVs Used For?
Applications:
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Geophysical Survey
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Hazard/Site Inspection
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Hydrographic Survey
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Pipeline Inspections
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Pseudo Seismic
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Geochemical Survey
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Environmental Monitoring
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Oceanographic Survey
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Post Hurricane Assessment
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Marine Archeology
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EEZ/UNCLOS Surveys
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Mine Countermeasures
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Rapid Environmental Assessment
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Intelligence, Surveillance and Reconnaissance
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Harbor Security
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Search and Recovery

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Operating AUVs in Shallow Water: Considerations
Positioning:
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USBL?
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GPS?
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Inertial?
Attitude, Swell and Currents:
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Heave and roll in swell and wave action
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Algorithms to reduce impact of swell on data
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High current reduces operational window
Portability and Robustness:
•Launch and Recovery in shallow water
•Smaller vehicles affected more by wave action
•Reliability of data collection
KM’s AUVs can operate in 5-10 m of water, but careful planning is required

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Operating AUVs in Shallow Water: Navigation & Positioning
Navigation:
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Honeywell HG9900 IMU
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Teledyne RDI WN 300 kHz DVL
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Novatel L1/L2 GPS
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NavP
Aids to Navigation:
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HiPAP 501, 351, μPAP
•TerrNav DTM
•Underwater Transponder Protocol (UTP)
•Pipe Tracking?
Post Mission:
•NavLab

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Operating AUVs in Shallow Water: Launch and Recovery
Sea State:
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5 in open ocean
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North Sea?
Ship of Opportunity:
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Deck space
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Crane
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Stinger Ramp
•Moonpool
Post Mission:
•Turn-Around time
•Battery charge or battery swap?
•Data download or removable storage?

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AUVs and Risk Management: Will I Get It Back?
Risk Factors:
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Mission profile
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Hazards
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Reliability
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Human error
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Risk Mitigation and Mission Management
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What happens if something goes wrong?

9. Fully Autonomous: No interaction from operator
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Pre-defined mission plan
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No position updates
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No supervision of payload sensors
Semi-Autonomous: Occasional Updates
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Predefined mission plan
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Occasional position updates using HiPAP or UTP
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Occasional communication with vehicle for status
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No supervision of payload data
Supervised: Most common commercial mode
•Predefined mission plan can be amended during survey
•Regular position updates
•Real-time data for QC sent to operator
•Can change payload sensor settings on the fly
•Vehicle sends status, pipeline track points etc.
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AUVs and Risk Management: Real Time Supervision

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Reliability and Successes:
Image courtesy of Fugro
Reliability and Repeatability
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More than 600,000 km of contracted commercial survey
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Customer reported 96%+ reliability and availability
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Repeatable surveys and accurate navigation
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Global support

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MUNIN
A Low Logistics, High Performance AUV for Commercial Operators

12. MUNIN: Overview
Nose Section
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Forward Looking Sonar
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NBOS CT Sensor
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Pop-off buoy and recovery line
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Drop weight
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Battery Module
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Swappable dry battery section
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12 hours endurance
Navigation and Payload Module
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INS
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DVL
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EM2040
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Sidescan sonar arrays
Control Module
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Vehicle and Payload Electronics
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Fixed Dry Battery
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12 hours endurance
Tail Section
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Propulsion and steering
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cNODE communications and positioning transponder
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RF/Wi-Fi/GPS antenna

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MUNIN AUV Key Specifications
Dimensions:
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Length: < 4 m
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Diameter: 34 cm
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Weight: <300 kgs Depth Ratings:
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600 and 1500 m Power Supply:
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Rechargeable Lithium batteries (fixed and swappable) Endurance:
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12 to 24 hours
Navigation:
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Honeywell HG9900 IMU
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NavP
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Forward looking sonar
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Novatel L1/L2 GPS
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DVL
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DigiQuartz depth sensor
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UTP & Terrain navigation options
Communications:
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cNODE
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HiPAP USBL
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Command Link
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Data Link
Payload:
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EM2040 MBES
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SSS
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CT Sensor
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SBP option
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Camera option

14. Factory Calibration of Payload and Navigation Module:
IMU, DVL, EM2040 & SSS
No need for alignment and calibration of system after re-assembly
=
Consistent data quality and positioning
Modularity Without Complexity
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15. Low Logistics But Retaining Productivity
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16. HUGIN and MUNIN: Complete Systems “AUV in a Box”
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17. •
Survey Parameters:
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Altitude: 3 to 150 m
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Speed: nominally 1.5 to 2 m/s (~3 to 4 kts)
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Performance and coverage:
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Full swath HISAS: ~600 m total
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Full swath EM2040 single Rx: ~400 m
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Full swath EM2040 dual Rx: ~800 m
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Area Coverage rate: ~2.6 km2/hour
Data Quality and Coverage
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Sensor combinations improve coverage rates
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All sensors can be used concurrently
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HISAS/SSS
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EM2040
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SBP
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TileCam
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Environmental/Geochemical

18. Data Quality and Coverage HISAS
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Object classification and identification:
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Spot processing for high resolution:
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Objects of interest resolved to 2 x 2 cm (theoretical maximum resolution)
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In-mission processing of sidescan and SAS imagery plus bathymetry
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In-mission adaptive replanning using SITAR (ATR)
Images shown are 850 kHz EdgeTech sidescan sonar (left) and HISAS (right) taken of the same target by the same HUGIN AUV (both sensors running at the same time)

19. Data Quality and Coverage HISAS
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SAS imagery 400 m swath
HISAS Bathymetry
Merged EM bathymetry with HISAS bathymetry for full swath product

20. Data Quality and Coverage EM2040 Bathymetry and Water Column Data
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Image courtesy of C&C Technologies

21. Data Quality and Coverage TileCam
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Image courtesy of Fugro

22. Data Quality and Coverage Georeferenced Synchronised Data Sets
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Two sets of data collected in the same survey
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The benefit of having tightly integrated sensors
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Only achievable with 1pps timing and geo-referenced data
Image courtesy of C&C Technologies

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DVL-aided INS DVL-aided INS
Data Quality and Coverage Accurate Georeferenced Data Sets
Enhanced positioning using NavP, HiPAP, UTP and Terrain Navigation
Modes of Operation:
Navigation Error
Real-Time
Post-Processed
Autonomous: No updates, straight line
0.1% of Distance Travelled
0.1% of Distance Travelled
Autonomous: GPS fix every 1-2 hrs
2 to 10 m
1 to 4 m
Autonomous: NavP UTP ranging
5 m
2 m
Supervised: HiPAP USBL updates
0.5 to 6 m (depending on depth and GPS accuracy)
0.5 to 4 m

24. Autonomous Pipeline Survey
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Proven pipe tracking capability
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Software developed, tested and in commercial use on the HUGIN AUV now available on MUNIN
Pass 1: SSS or SAS survey
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Offset to side of pipeline, ~20 meter altitude
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Active vehicle tracking using side-scan imagery
Pass 2: EM2040 and Camera Survey
•Directly overhead pipeline, ~3-5 meter altitude
•Active vehicle tracking using MBE bathymetry and reflectivity
If the pipe location is known within 10 m, then the AUV can go straight to the EM2040 and Camera survey

25. Autonomous Pipeline Survey HISAS Bathymetry
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Altitude 30 m
Range (shown) 55 to 105 m
Speed 4 knots

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Altitude: 3.5 m
Speed: 3.8 knots
Autonomous Pipeline Survey EM2040 Bathymetry

27. Altitude 3.5 m
Speed 3.8 knots
Autonomous Pipeline Survey TileCam Images
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28. Autonomous Pipeline Survey Mosaic of Flush Buried Pipe
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Altitude 5.8 m
Speed 3.5 knots

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Future Developments?
Some Developments Already Underway:
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New Payload Sensors:
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Laser Imaging/Micro-Bathymetry Sensor
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Magnetometer
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Automated Recovery & Docking
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Persistence and Subsea Residency
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New IMU for non-ITAR operators
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Improved Autonomy: In-Mission Adaptive Control

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Future Developments? Where Are We Going?

31. Visit us at www.kongsberg.com for more information