Review of Autonomous Undersea Vehicle (AUV) Developments 
PHOENIX AUV [9,10] 
The Naval Postgraduate School (NAVPGSCOL) has designed and built two underwater 
vehicles, NAVPGSCOL AUV | and the Phoenix AUV. The Phoenix AUV is in the 2-meter 
vehicle class weighing approximately 400 pounds (wet) but operated neutrally buoyant. It has 
been used for many studies relating to the design of control system architectures. The Phoenix 
has been the experimental test-bed for development and evaluation of nonlinear and adaptive 
control of vehicle motion. It has supported experimental work in system identification and the 
development of physical modeling and visualization. Figures 7 and 8 are schematics for the 
Phoenix AUV, and table 6 lists its specifications. 
TCHICOMPASS 
ST725 SONAR wae: 
DOPPLER 
SONAR 
ST 1000 SONAR 
ST525 ALTIMETER 
DEPTH CELL 
TRANSDUCER 
HOW LEAK TURHO PROBE 
DETECTOR 
HOW LATERAL 
THRUSTER 
VERTICAL 
GYRO 
FIN SER ¥O (8) 
JAXIS RATE GYRO 
HOW VERTICAL 
THRUSTER 
COMPUTER POW ER 12 VOLT HATTERY @) 
SUPPLY (2) FOR COMPUTER 
MOTOR SERVO 
CONTROLLER (6) GESPAC CARD CAGE 
RADIOCOMN., DIVE TRACKER 
LINK SYSTEM 
QNX PENTIUM 
COMPUTER 1Z VOLT HATTERY @} 
STERN ¥ERTICAL FOR GYROS) HOTORS 
THRUSTER FREE GYRO 
FREE GYRO ; 
POWER SUPPLY GPS UNIT 
STERN LATERAL 
THRUSTER REAR LEAK DETECTOR 
REARSCREW WOTOR (2) 
REARSCREW (2) 
CONTROL FINS (8) oh 
Dewrn B70. Mews 96 
Ruy. 10-30-97? 
SCREW SHROUD @) 
Figure 7. Phoenix AUV for Mine Reconnaissance/Neutralization in Very Shallow Water 
