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Aiming at the demand of marine environment observation and realizing AUV industrialization, A portable autonomous observation system (PAOS) was built by Shenyang Institute of Automation. In 2013, Lake trial, sea trial and the standard sea trial was conducted. This paper describes system components, control system design of the PAOS, trial process and test result. Keywords-PAOS, AUV, lake trial , standard sea trial I.Recently, a portable AUV (PAOS) is built by the Shenyang Institute of Automation, Chinese Academy of Sciences, to meet the requirements of fast, flexible, and low cost. It is as shown in Figure 1. It is supported by the National High Technology Research and Development Program (863 Program) of China, and aim at the demand of marine environment observation and realizing AUV industrialization.

Abstract-Thermocline has a significant impact on marine fishery, navy submarine activity, ocean circulation and internal wave. In consideration of long range, low cost, and high maneuverability, the AUV (Autonomous Underwater Vehicle) is an ideal platform for ocean local precisely thermocline tracking. Combining with the advantage of the AUV yo-yo movement, this paper presents a simple and effective thermocline tracking method. According to the definition of the thermocline, we set a threshold, and in the real detect area, the threshold can change adaptively, thus we can draw the outline of the thermocline. Meanwhile, we present a method to determine bin size in order to solve the abruptness of robust and method's resolution. The simulation analysis was carried out using previous data of field test in the South China Sea.