@bryan3D
My 2 cents here and not trying to push my “concept” (I do believe the design it will be better with multiple inputs and multiple use cases) of a Modular BlueROV AUV but as I see it, use as much as possible of standard equipment and software systems as possible (but with an eye to the future) to shorten it’s development path to get something out there which can be used as a starting point to then build additional steps upon. (eg swap out lateral thruster for fins)
I see this as just sort of a step up from the current ROV (basically just cutting the cord)
The only real “hardware” changes (aside from hydrodynamics) away from the Standard BlueROV are
- GPS added (already able to be integrated into Navigator and already in BlueBoat)
- DVL (multiple brands already integrated in BlueOS)
- SSS [as a payload so not core AUV] (a single brand already integrated in BlueOS)
- LoRa – Yet to be integrated into the Blue Robotics universe
- Mast / Beacon Signal Lighting (really just an extension of the Subsea RGB LED)
On the Software Side I feel most of the lower-level stuff is already in place to automatically do a simple mission (once the cord is cut ROV → AUV and it knows it location). I have some concerns as to aborts and higher level functions (collision avoidance)
RE DVL’s I am a bit brand agnostic but sort of strongly suspect a little better performance can be got out of them (Waterlinked standard 1% accuracy to its Performance 0.1% is only software) (If I was making a semi educated guess, I would just suggest it is some better moving point averaging filtering perhaps with feedback as to what the motors are doing).
I would also be in part looking at the cost of a combo DVL + beacon cost (ie a little more cost effective DVL with passing by location corrections form a USBL or LBL). Sort of consider 4 smart buoys for LBL (your suggested US$400 x 4 = US$1600) and a Kogger micro DVL (US$1300) corrections each pass so maybe 400-600m prior to positional corrections if 1km lanes
Scott