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**CDL Inertial technology tutorial**

Accelerometer theory Rotation sensor theory Tilt sensors Motion sensors The gyrocompass Strapdown systems Inertial navigation Aided inertial

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**Accelerometer Theory F=ma Sense force… Mass is known**

Calculate acceleration Gravity is a constant reference Tilt = ArcSin(acceleration / 1g)

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**Rotation Sensor Theory**

Vibrate the tuning fork Coriolis effect Force=2mΏ Vr ie 2 x mass x input rate x radial velocity

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**Tilt Sensors Sensor types Dual axis sensors MiniTilt MicroTilt**

Capacitive Accelerometer Dual axis sensors MiniTilt MicroTilt Applications

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**6 DOF sensor Pendulum V MEMS MiniSense Applications**

Motion Sensors 6 DOF sensor Pendulum V MEMS MiniSense Applications

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**The Gyrocompass Gyroscopic principle Gimballing North seeking gyro**

MicroGyro Applications Subsea applications

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**Strapdown Systems Operational principle MEMS Ring Laser Gyro (RLG)**

Fibre Optic Gyro (FOG) Other systems?

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**Inertial Navigation Displacement measurement Linear accelerometers**

Angular velocimeters Gravity & Earth rotation Cumulative errors vary with T 2

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**Aided Inertial Closed loop systems The Kalman filter Velocity aiding**

GPS aiding DVL aiding Applications

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**CDL Product Summary MiniTilt MicroTilt MiniSense MicroGyro MiniRLG2**

RemoteGyro MiniPOS2 MiniPOS/NAV MiniSpool TunnelPro

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