The perception module generates the situational awareness for the nanoAUV software. Multiple echosounders and two sidescan sonars are installed to avoid collision with the ground or icy obstacles and to generate an occupancy grid map for obstacle mapping. Investigations are currently underway to determine if the raw acoustic data from the USBL can be used to detect objects. In case of danger, the camera can be activated to capture a situation picture. Due to restricted energy resources, the use of the camera is avoided. The science sensors, especially the CDT sensors are used to map the environmental parameters as temperature and salinity profiles. These data is used by i.e. the decision making to find gradients to points-of-interest.