Abstract: For Haidou full-depth ocean autonomous and remotely-operated vehicle (ARV) to accomplish the hadal trench detection with a high efficiency, a parameterized model is proposed for the overall design of Haidou using the fuzzy analytic hierarchy process, based on the analysis on the mission-oriented typical performance indices. The target of the hadal trench detection in minimum time was completed by Haidou through the parametric configuration and optimization of the model. Two sea trials have been carried out in the Challenger Deep of Mariana Trench. Results show that Haidou meets the requirements of hadal trench detection with large vertical depth, which verifies the effectiveness of the proposed parametric design method.