Subsea Warden

Subsea Warden is Cellula Robotics' hovering autonomous underwater vehicle system for measuring the acoustic and magnetic signatures of surface vessels. A typical deployment uses three vehicles positioned along port, starboard and keel measurement lanes. Each unit follows a preset scan path, configures its sensors, submerges and records data as the vessel passes, allowing signature work to be conducted in open-ocean or littoral locations without a fixed measurement range.

The sensor package combines a digital hydrophone with a self-compensating three-axis magnetometer, encrypted storage and wireless links for inter-vehicle coordination and data transfer between passes. Fibre-optic inertial navigation and a Doppler velocity log support positioning, while the ROS-over-Ethernet architecture permits payload integration. Each vehicle is approximately 140 centimetres long and 90 centimetres wide, weighs 130 kilograms and is rated to 100 metres depth. Cellula packages the three-vehicle system in a 20-foot ISO container for transport and field support.