Ring Laser Gyro (RLG) - MiniPOS/NAV

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The CDL MiniPOS/NAV system combines CDL’s MiniPOS2 inertial navigation product with RDI’s DVL technology in a single housing which ensures ease of calibration and integrity of the calibration data. A combined pressure housing provides size and weight savings which makes the system easier to integrate into modern ROV spreads.   DVL aided inertial navigation allows the drift rate inherent in pure inertial navigation systems to be greatly reduced and allows the system to navigate accurately over long distances with no external position input. CDL can provide specially designed computer software which allows integration of acoustic range via USBL or LBL to allow the MiniPOS/NAV to output high update rate, high accuracy, smoothed positional information which can be used to greatly improve a wide range of subsea survey tasks.   MiniPOS/NAV uses a high grade Ring Laser Gyrocompass (RLG) which can also be aided on the surface by GPS.  Two grades of RLG sensor can be fitted to allow medium or high grade positioning accuracy.   System outputs include: Heading, Pitch, Roll, Depth, X, Y and Z angular velocities, X, Y and Z linear accelerations, Heave, Surge and Sway as well as full positional information in a variety of coordinate systems.   CDL can provide the MiniPOS/NAV preconfigured and calibrated, ready to install on client’s ROV and AUV systems.   Features: DVL, GPS, depth input WGS84 output Heading, pitch, roll, o/p ROV and AUV navigator Packaged with DVL 6,000m depth option           IMU Specification:                                                             Standard T16 IMU                  High Performance T24 IMU Free Inertial Drift                                  Under 5 nautical miles/ hour             Under 1 nautical miles/ hour GPS and log aiding                             10m CEP                                              10m CEP (Circular error probability) EM log only                                           0.5 nautical miles/ hour                      0.2 nautical miles/ hour DVL Aiding                                           20 metres/ hour CEP                          3 metres/ hour CEP Heading accuracy                               0.169 degrees**                                  ±0.028 degrees** Pitch and Roll                                       0.028 degrees*                                    0.028 degrees* Angular random walk                         0.02 degrees/root hour                       0.002 degrees/root hour Bias Repeatability                               0.1 degrees/hour*                                               0.005 degrees/ hour* Scale factor repeatability                   75 ppm                                                  10 ppm Settling Time                                        30 minutes                                            30 minutes Heave, surge, sway                            5% or 5cm                                            5% or 5cm   Telemetry Interface:   Bi-Directional RS422 or RS232 Up to 4  x 115kbaud 50/100Hz inertial data with a fixed format Up to 4 x  115kbaud, up to 50Hz ascii data with a variety of user-selectable formats Inputs for GPS, DVL and depth   Depth Rating:   3,000 metres (Standard) 4,000 metres (Optional) 6,000 metres (Optional)   Power Requirements:   Consumption                                       Between 20 and 35W (Depends on configuration) Supply Voltage                                    (AC and DC available as standard) AC                                                          100-260Vac DC                                                          18-30Vdc   Weights and Dimensions:                Subsea Unit                                          200mm dia x 431mm high                (8.0” dia x 17” high) Weight dry                                             21.5kg                                                    (47.4 lbs) Weight in Water                                   9kg                                                         (19.8 lbs)   * RMS ** RMS sec (latitude)