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

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

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

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

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

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

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

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

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

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