This paper describes the concept, the technical implementation and the practical application of a miniaturized sensor system integrated into an autonomous underwater vehicle (AUV) for real-time acquisition of water quality parameters. The main application field of the presented system is the analysis of the discharge of nitrates into Norwegian fjords near aqua farms. The presented system was developed within the research project SALMON (Sea Water Quality Monitoring and Management) over a three-year period. The development of the sensor system for water quality parameters represented a significant challenge for the research group, as it was to be integrated in the payload unit of the autonomous underwater vehicle in compliance with the underwater environmental conditions. The German company -4H- JENA engineering GmbH (4HJE), with experience in optical in situ-detection of nutrients, designed and built the measurement system. As a carrier platform, the remotely operated vehicle (ROV) "CWolf" from Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung - Institutsteil Angewandte Systemtechnik (IOSB-AST) modified to an AUV was deployed. The concept presented illustrates how the measurement system can be integrated easily into the vehicle with a minimum of hard- and software technical interfaces.

中文翻译：

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具有集成实时水质分析功能的模块化AUV系统。

本文介绍了集成到自动水下航行器（AUV）中以实时获取水质参数的小型传感器系统的概念，技术实现和实际应用。该系统的主要应用领域是分析硝酸盐向水产养殖场附近的挪威峡湾的排放。提出的系统是在研究项目SALMON（海水水质监测和管理）中历时三年开发的。水质参数传感器系统的开发对研究小组提出了重大挑战，因为它将根据水下环境条件集成到自主水下航行器的有效载荷单元中。德国公司-4H- JENA engineering GmbH（4HJE），具有光学营养素原位检测的经验，设计并构建了测量系统。作为运载平台，部署了来自Fraunhofer-InstitutfürOptronik，Systemtechnik und Bildauswertung-Angewandte Institutste Angewandte Systemtechnik（IOSB-AST）的遥控车辆（ROV）“ CWolf”。提出的概念说明了如何使用最少的硬件和软件技术接口将测量系统轻松集成到车辆中。