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CDL Inertial technology tutorial Accelerometer theory Accelerometer theory Rotation sensor theory Rotation sensor theory Tilt sensors Tilt sensors Motion.

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Presentation on theme: "CDL Inertial technology tutorial Accelerometer theory Accelerometer theory Rotation sensor theory Rotation sensor theory Tilt sensors Tilt sensors Motion."— Presentation transcript:

1 CDL Inertial technology tutorial Accelerometer theory Accelerometer theory Rotation sensor theory Rotation sensor theory Tilt sensors Tilt sensors Motion sensors Motion sensors The gyrocompass The gyrocompass Strapdown systems Strapdown systems Inertial navigation Inertial navigation Aided inertial Aided inertial

2 Accelerometer Theory F=ma F=ma Sense force… Sense force… Mass is known Mass is known Calculate acceleration Calculate acceleration Gravity is a constant reference Gravity is a constant reference Tilt = ArcSin(acceleration / 1g) Tilt = ArcSin(acceleration / 1g)

3 Rotation Sensor Theory Vibrate the tuning fork Vibrate the tuning fork Coriolis effect Coriolis effect Force=2mΏ V r Force=2mΏ V r ie 2 x mass x input rate x radial velocity ie 2 x mass x input rate x radial velocity

4 Tilt Sensors Sensor types Sensor types Capacitive Capacitive Accelerometer Accelerometer Dual axis sensors Dual axis sensors MiniTilt MiniTilt MicroTilt MicroTilt Applications Applications

5 Motion Sensors 6 DOF sensor 6 DOF sensor Pendulum V MEMS Pendulum V MEMS MiniSense MiniSense Applications Applications

6 The Gyrocompass Gyroscopic principle Gyroscopic principle Gimballing Gimballing North seeking gyro North seeking gyro MicroGyro MicroGyro Applications Applications Subsea applications Subsea applications

7 Strapdown Systems Operational principle Operational principle MEMS MEMS Ring Laser Gyro (RLG) Ring Laser Gyro (RLG) Fibre Optic Gyro (FOG) Fibre Optic Gyro (FOG) Other systems? Other systems?

8 Inertial Navigation Displacement measurement Displacement measurement Linear accelerometers Linear accelerometers Angular velocimeters Angular velocimeters Gravity & Earth rotation Gravity & Earth rotation Cumulative errors vary with T 2 Cumulative errors vary with T 2

9 Aided Inertial Closed loop systems Closed loop systems The Kalman filter The Kalman filter Velocity aiding Velocity aiding GPS aiding GPS aiding DVL aiding DVL aiding Applications Applications

10 CDL Product Summary MiniTilt MiniTilt MicroTilt MicroTilt MiniSense MiniSense MicroGyro MicroGyro MiniRLG2 MiniRLG2 RemoteGyro RemoteGyro MiniPOS2 MiniPOS2 MiniPOS/NAV MiniPOS/NAV MiniSpool MiniSpool TunnelPro TunnelPro


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