Thursday, September 16, 2021
Published: Nov 2015
  • Navigation Systems

Teledyne CDL Technology

Micro Electro-Mechanical System (MEMS) technology is at the heart of Teledyne CDL’s extensive range of motion sensors that includes a variety of specifications, accuracies and external aiding capabilities. Also available is a complete range of fibre optic gyro (FOG) and ring laser gyro (RLG) gyrocompasses, built for marine vehicle navigation. This wide range of commercially available products is mainly for use in subsea marine and in particular, remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). CDL products are also suitable for subsea gliders, offering combined motion and navigation requirements for all subsea vehicles.

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  • Picture 1.jpg Pic. 1 Teledyne CDL – Specialists in subsea marine systems
  • Picture 2.jpg Pic. 2 Teledyne CDL – MEMS Technology
  • Picture 3.jpg Pic. 3 TOGS Fibre Optic Gyrocompass – build and manufacture
  • Picture 4.jpg Pic. 4 TOGS – fitted to ROV and the DATUM system integrated onto separate frame

CDL’s MEMS based systems include:

  • MiniSense 2, a 2nd generation motion and magnetic heading sensor
  • MiniSense 3, a 3rd generation highly accurate motion and magnetic heading sensor
  • MiniSense a 2nd generation motion, magnetic heading sensor with an integrated IPS depth sensor
  • MiniTilt, a static roll and pitch sensor
  • MicroTilt, a single axis roll and pitch sensor

Full navigation systems offering complete attitude and heading reference solutions (AHRS) include the following products:

  • TOGS, a tiny optical gyro system that is also available as an IMO approved surface gyrocompass
  • TOGSNAV, a tiny optical gyro system fitted with a DVL and options for integrated depth and sound velocity sensors.
  • MiniRLG2, an extremely high accuracy ring laser gyrocompass.

CDL’s full inertial products provide positioning systems highly suited to subsea vehicle requirements and survey solutions. Built upon RLG technology, these offer unbeatable heading, roll and pitch accuracies as well as highly accurate position, velocity and heave outputs. These products come either fitted with a Kearfott T-16 or T-24 IMU.

  • MiniPOS3, a compact and highly accurate INS solution
  • MiniPOSNAV3, an inertial navigation system fitted with a DVL and options for integrated depth sensors

MEMS Motion Sensors for ROV and AUV

The MiniSense range of motion and magnetic heading sensors, the MiniTilt and the MicroTilt all utilise the latest generation of high accuracy 6 Degrees of Freedom (DOF) MEMS technology. The advantage of MEMS technology is first and foremost the size. Furthermore, MEMS systems exhibit low power consumption and due to the nature of the solid state design, they have high MTBF and are very robust.

The MiniSense range is CDL’s most versatile MEMS based system. Both the MiniSense 2 and MiniSense 3 systems utilise the same magnetic heading sensor achieving 2° heading accuracy. A 2D magnetic calibration algorithm enables these products to be used on a variety of systems where a 3D calibration is not feasible.

Once this calibration has been performed the highly advanced algorithm combined with very accurate gyroscopes results in products that are not susceptible to magnetic disturbances over short time periods. This means that the MiniSense systems can be used close to magnetic disturbances like subsea metal structures and still provide a stable magnetic heading.

The MiniSense 2 achieves 0.2° pitch/roll accuracy where as the MiniSense 3 achieves 0.04° or an unbeatable 0.03° over +/- 5°. With various accuracy options and with depth ratings from a surface version to 6000m, as well as a model with an integrated depth sensor, there is a solution for most customer and user requirements.

This is reflected in the fact that the MiniSense products have been used in a variety of systems ranging from smaller ROVs, subsea structures for motion monitoring and racing sail boats.

FOG & RLG gyrocompasses for ROV and AUV

The TOGS gyrocompass has had endless success since its inception in 2007.As pioneers of the small form factor Fibre Optic Gyro system, CDL engineers have worked to continually develop the TOGS gyrocompass. Due to its very small size, a huge defining factor is that the TOGS provides the essential space saving element crucial to ROV and AUV manufacture that many other subsea navigation systems cannot offer. A combination of the TOGS’ exceptional specifications and unmatched cost has meant that it is rapidly becoming standard fit on a large percentage of the world’s work class ROV systems. Providing one shipment of 52 TOGS units to a world-renowned ROV manufacturer for new ROV builds in 2014 not only highlights success but also indicates the confidence that industry subsea vehicle designers and manufacturers have in the system. Development of the TOGS led to the TOGSNAV that provides the exact same 0.5° (secant latitude RMS) heading and 0.1° (RMS) roll and pitch performance. Coupled with an integrated DVL supplied by our fellow Teledyne Marine company, Teledyne RD Instruments, TOGSNAV also integrates a depth and sound velocity sensor making it the most integrated CDL system commercially available. The TOGS-S, a surface version of the TOGS unit, was granted full IMO (International Maritime Organisation) Approval in 2012. This operates with the exact same capabilities, flexibility and reliability as the TOGS but it is designed solely for surface vessel navigation. It can operate in conjunction with GPS to provide a robust heading solution that also delivers pitch and roll outputs to accurately track the vehicle’s motion. With the TOGS-S certified for the high speed IMO certification (up to 70 kn) it is suitable for any surface vehicle ranging from large displacement ships to small high speed vessels. As well as the FOG technology, CDL also utilises RLG technology in its portfolio of products by building the MiniRLG2 gyrocompass, the MiniPOS3 fully inertial navigation system, and the MiniPOSNAV3 fully inertial navigation system with DVL. These inertial, highly ruggedized solutions supply ROVs and AUVs with a complete navigation package. These systems can also form an integral part of a Mid Water Station Keeping System by fusing the INS, DVL and USBL; they can produce highly stable INS solutions feeding precise position, acceleration and rotation information directly to the control system on the ROV/AUV at updates rates of 100Hz.

In-service Life

All CDL products are subsea rated to 3000m, with options of 4,000m and 6000m, ensuring compatibility with all work class ROV, and most ROV and AUV applications. Housed in black anodized aluminium (and utilising titanium for the 6000m options), these products are purpose-built for the subsea vehicle market and consider every parameter of ROV and AUV manufacture, development and operation in performance, durability and reliability across the whole product life.

All products developed and built by CDL have ease of use and space saving in mind. This design philosophy is clear when looking at the TOGS, MiniRLG, MiniPOS and MiniSense products.With a vast amount of options within these products categories it’s clear to see the importance of product integration with ROVs and AUVs and how this is ultimately the defining factor between a well-engineered product and a good product idea. This is fundamental to Teledyne CDL and the way in which CDL solutions are designed, built and most importantly, how they perform and operate in the field.

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