Iver AUV Doppler Velocity Logs (DVLs)
Data Sheet



OceanServer offers several next generation high-resolution Doppler Velocity Logs (DVLs) for precise bottom track navigation while operating the Iver AUV beneath the water’s surface where GPS does not operate. All models are seamlessly integrated into the Iver’s mission planning software for simple operation. In addition, most models include water profiling to collect ADCP data.



Iver3 AUV systems shown above, DVL in center section below mast


DVL Options/Iver
Model
Description Application Optional ADCP Water Profiling
4 Beam/Iver2 Single Frequency, 4-beam Down-Looking DVL (4 velocity and bottom location beams) Low Cost Precise Bottom Track Navigation No, strictly used for precise navigation
6 Beam/Iver2 Dual Frequency, 6-beam Down-Looking DVL (4 velocity and bottom location beams, and 2 vertical beams for high-resolution bathymetry/altimetry information) Precise Bottom Track Navigation with additional vertical beams for high resolution bathymetry Yes, beneath AUV
10 Beam/Iver2 Dual Frequency, 10-beam Down and Up Looking DVL (4 velocity and bottom location beams, and 1 vertical beam for high-resolution bathymetry/altimetry information in the downward position and 4 velocity and bottom location beams, and 1 vertical beam for high-resolution vehicle/surface location information in the upward position).
Precise Bottom and Surface Track Navigation with additional beams for high resolution bathymetry Yes, both above and below the AUV
RDI Explorer Phased Array/Iver3-580 Single Frequency 614.4kHz, 4 Beam (phased array), maximum altitude 81m bottom lock range Precise Bottom Track Navigation calculates depth to bottom Yes, beneath the AUV
RTI SeaPILOT 4 Beam/Iver3-450 Nano Single Frequency 1200kHz, 4-beam Down-Looking DVL (4 velocity and bottom location beams) Precise Bottom Track Navigation calculates depth to bottom Yes, beneath the AUV


 
Two Iver2 AUVs shown with 10 Beam DVLs   3D Model showing a DVL with a Multi-parameter Sensor
in the front of the nose section


Sample Line Tracking showing Iver2 AUV
GPS (in blue) and DVL data (in Green)
One Vertical Down
500 khz 70-80m Altimeter

DVL Bottom View
The 10 Beam Iver2 DVL with the Water Profiling capable of outputting:

  • Bottom Track (vehicle position)
  • Surface Track (vehicle position under ice applications)
  • Average cell velocity under vehicle (used for water track)
  • Average cell velocity above vehicle (used for water track)
  • Output of range to bottom for each of the 4 velocity beams down and up
  • High-resolution range to bottom – vertical depth for bathymetry/altimetry
  • High-resolution range to surface – vehicle depth from surface
  • Water Profiling under the vehicle with user selectable cell sizes
  • Water Profiling above the vehicle with user selectable cell sizes