Acoustic Doppler Velocimeter Flow Measurement from an Autonomous Underwater Vehicle with Applications to Deep Ocean Convection

The authors present anew modality for direct measurement of ocean flow, achieved by combining the resolution and precision of an acoustic Doppler velocimeter with the mobility of an autonomous underwater vehicle. To obtain useful measurements. two practical integration issues must first be resolved: the optimal location for mounting the velocimeter probe to the vehicle, and alignment of the velocimeter with the vehicle's attitude sensors.