Page 459 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

Navigational Sensors
CHAPTER CONTENTS
17
17.1 Payload sensors versus vehicle sensors.....................................................................................454
17.1.1 Division of responsibility between ROV and survey functions .................................. 454
17.1.2 Typical survey “pod/mux” configuration ................................................................ 455
17.2 Gyros........................................................................................................................................455
17.2.1 Mechanical gyros................................................................................................ 456 17.2.2 Ring laser gyros.................................................................................................. 458 17.2.3 Fiber-optic gyros................................................................................................. 460 17.2.4 MEMS-basedgyros.............................................................................................462
17.3 Accelerometers.........................................................................................................................463
17.3.1 Pendulum accelerometers ................................................................................... 464
17.3.2 MEMS-based accelerometers............................................................................... 465
17.4 Inertial navigation systems........................................................................................................465
17.5 Bathymetric sensors..................................................................................................................467
17.6 Conductivity, temperature, depth (CTD) sensors .......................................................................... 468
17.7 Altimeters.................................................................................................................................470
17.8 Doppler velocity logs.................................................................................................................471
17.9 Inclinometers............................................................................................................................472
17.10 Long baseline arrays.................................................................................................................472
17.11 Ultrashort baseline arrays .........................................................................................................473
17.12 Combinedinstruments...............................................................................................................474
In this chapter, the separation of “vehicle navigational sensors” from “survey navigational sensors” will be examined along with their configurations and applications. Each of the typical survey-grade sensor’s principles of operation is examined with the goal of creating a basic reader understanding of each sensor’s function (vis-a`-vis the task being performed). There are a wide range of sensor variations (technology, accuracy, etc.) regarding the sensors explained below; therefore, each sensor must be analyzed so as to gain a full understanding of its function and utilization.
The ROV Manual.
© 2014 Robert D Christ and Robert L Wernli. Published by Elsevier Ltd. All rights reserved.
453
CHAPTER