AUV Abyss workflow: autonomous deep sea exploration for ocean research

Autonomous underwater vehicles (AUVs) equipped with multibeam echosounders (MBES) are essential for collecting high-resolution bathymetric data in the deep sea. Navigation of AUVs and accuracy of acquired MBES data is challenging, especially in deep water or rough terrain. Here, we present the AUV Abyss operational workflow that uses mission planning together with a long baseline (LBL) positioning network, and systematic post-processing of the MBES data using feature matching. The workflow enables autonomous exploration even in difficult terrain, makes ultrashort baseline navigation during the AUV survey obsolete and with this, increases the efficiency of ship time. It provides an efficient workflow for multi-survey mapping campaigns to produce high-resolution, large-coverage seafloor maps. Automated documentation of post-processing steps enhances the archiving of produced results, facilitates knowledge transfer, adaptation to other systems and management of large datasets. Comprehensive documentation allows developing routines that provide a first step towards automatization of AUV operations and MBES data processing.