Control System for a Moored Autonomous Underwater Profiler

O. Yu. Kochetov^✉, A. G. Ostrovskii

Shirshov Institute of Oceanology, Russian Academy of Sciences, Moscow, Russian Federation

^✉ e-mail: ok@noiselab.ru

Abstract

Purpose. This work presents the design and implementation of a modern control system for an autonomous underwater profiler intended to conduct a large series of measurements of vertical profiles of aquatic environmental parameters in an automatic mode at a moored station, and to provide wireless data transmission in quasi-real time and remote control.

Methods and Results. The following components of the tethered control system were considered: electronics, embedded software, software and hardware for data transmission and remote control, as well as end-user application software. The hardware technical characteristics were presented. The structure, functional features, and implementation details of the software components were described in detail. A specialized communication protocol providing reliable transmission of large volumes of data via cellular networks was proposed.

Conclusions. A control system for an underwater profiling probe implementing automatic modes of operation, data transmission, and user interaction has been developed. This system served as a basis for constructing an autonomous robotic platform for oceanographic sensors with a built-in winch called “Winchi”. It is designed for regular measurements of vertical profiles of aquatic environmental parameters from the bottom to the water-air interface in shelf sea areas, lakes, and reservoirs. Special software and hardware tools for navigation and robust communication have been developed as part of the probe-profiler control system. For the first time in domestic practice, this made it possible to solve the problem both of remote reconfiguration of the water-column monitoring mode, including adjustment of the measurement time and depth, and modification of the composition of the information transmitted by the device depending on weather and other conditions.

Keywords

operational oceanography, measurement automation, control of an autonomous underwater system, instrumentation electronics, embedded software, data transmission, remote control

Acknowledgements

The authors are very grateful to their colleagues: D. A. Shvoev, chief designer of “Winchi”; S. V. Volkov, electronics developer of “Winchi”; and A. G. Zatsepin, scientific director of the annual IO RAS Black Sea expeditions, during which the “Winchi” device was tested and operationally evaluated. The study was carried out using research data obtained within the framework of the state assignment of IO RAS (FMWE-2024-0024) and with the support of RSF Grant No. 23-17-00056.

About the authors

Oleg Yu. Kochetov, Researcher, Shirshov Institute of Oceanology, Russian Academy of Sciences (36 Nakhimovskiy Ave., Moscow, 117997, Russian Federation), ORCID ID: 0000-0002-8413-6030, ResearcherID: L-4624-2016, Scopus Author ID: 0000-0002-8413-6030, SPIN-code: 3564-2154, ok@noiselab.ru

Aleksandr G. Ostrovskii, Leading Researcher, Shirshov Institute of Oceanology, Russian Academy of Sciences (36 Nakhimovskiy Ave., Moscow, 117997, Russian Federation), CSc. (Geogr.), ORCID ID: 0000-0002-5906-0361, ResearcherID: E-4315-2014, Scopus Author ID: 7006130192, SPIN-code: 4668-1119, osasha@ocean.ru

Original russian text

Original Russian Text © O. Yu. Kochetov, A. G. Ostrovskii, 2026, published in MORSKOY GIDROFIZICHESKIY ZHURNAL, Vol. 42, Iss. 2, pp. 323–341 (2026)

For citation

Kochetov, O.Yu. and Ostrovskii, A.G., 2026. Control System for a Moored Autonomous Underwater Profiler. Physical Oceanography, 33(2), pp. 366-383.

References

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