Title :
Underwater gravimeter on board the R-One robot
Author :
Fujimoto, Hiromi ; Koizumi, Kazuto ; Watanabe, Masahaiu ; Oshida, A. ; Furuta, Toshio ; Takamura, Naoya ; Ura, Tamaki
Author_Institution :
Graduate Sch. of Eng., Tohoku Univ., Sendai, Japan
Abstract :
We have developed a compact gravimeter for measurement on board an AUV called R-One Robot. The gravity sensor is a special model of Scintrex gravimeter CG-3M with operating range of 27 gals. The gravity sensor is stabilized with signals from an optical gyroscope. The gravimeter has been tested and examined on a diagnostic table and surface ships anchored in a harbor as well as on the R-One Robot. Resolution of gravimetry is the order of 1 mgal (10-6 G); a few problems remain to be solved
Keywords :
density measurement; gravimeters; gyroscopes; mobile robots; optical sensors; underwater vehicles; AUV; R-One robot; Scintrex gravimeter CG-3M; diagnostic table; gravity sensor; optical gyroscope; surface ships; underwater gravimeter; Geophysical measurements; Gravity measurement; Marine vehicles; Oceans; Optical sensors; Robots; Sea measurements; Sea surface; Surface topography; Underwater vehicles;
Conference_Titel :
Underwater Technology, 2000. UT 00. Proceedings of the 2000 International Symposium on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-6378-7
DOI :
10.1109/UT.2000.852559
