WHOI-98-15
Woods Hole Oceanographic Institution ~i
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Ultimate Ocean Depth Packagingfor a Digital Ring Laser Gyroscope
by
M. F. Bowen
. July 3D, 1998.iï
Technic~1 Report
Funding was provided by the National Science Foundation under Grant No. OCE-9710512
Approved for public release; distribution unlimited.
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WHOI-98-15
Ultimate Ocean Depth Packaging for a Digital Ring Laser Gyroscope
by
M. F. Bowen
Woods Hole Oceanographic InstitutionWoods Hole, Massachusetts 02543
July 30, 1998
Techncal Report
Funding was provided by the National Science Foundation under Grant No. OCE-9710512
Reproduction in whole or in part is permitted for any purpose of the United StatesGovernment. This report should be cited as Woods Hole Oceanog. Inst. Tech. Rept.,
WHOI-98-15
Approved for public release; distribution unlimited.
Approved for Distrbution:
~~Dr. Tiothy Stanton
Departent of Applied Ocean Physics and Engineering
WHOI Packging for aRing Laser Gyroscop
Ultimate Ocean Depth PackagingFor a Digital Ring Laser Gyroscope
Prepared By:M.F. Bowen
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Version 1.030 July 1998
Figure ( 1) Fighting Falcon RLG Platform
1
WHI Packaging for aRing Laser Gyroscop
Ultimate Ocean Depth Packagingfor a Digital Ring Laser Gyroscope
Contents
Abstract1.0 Introducton
1.1 Package Design1.2 Operational Advantges
2.0 RLG Dep Se Platforms2.1 Dep Submergence Vehicle (DSV) ALVIN2.2 Remotely Operated Vehicle (ROV) JASON2.3 Autonomous Underwater Vehicle (AUV) ABE
3.0 Instrument Housing3.1 Seamless Housing Bell3.2 Endcap and Accessories
3.2.1 Axial Registration Bracketry3.2.2 Feedthrough Connectors3.2.3 Operational Modes
3.3 Prsure Rating4.0 Instrument Chassis
4.1 Components4.1.1 Honeywell RLG and Anti-Vibration Mount
4.1.1.1 Power and Data4.1.1.2 Connections4.1.1.3 Mechanicals4.1.1.4 Reliabilit
4.1.2 Crossbow DMU-VG4.1.3 Axiom HC11 Single-Board Computer4.1.4 WHOI UART PCBs4.1.5 WHOI Power Supply Interface4.1.6 WHOI Battery Backup
4.2 Chassis Wiring Diagram4.3 Power Supply Interface Circuit Diagram
5.0 References6.0 Mechanical Drawings
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WHOI Packaging for aRing Laser Gyroscope
Fiqures
Figure ( 1) Fighting Falcon RLG Platform and RLG Outline DrawingFigure (2) Launching the ALVIN DSVFigure (3) Launching the JASON ROVFigure ( 4) Launching the ABE AUVFigure r 5) Seamless Titnium Housing BellFigure ( 6 i Endcap and Axial Registring Connector GuardFigure (7) Bracketry Drawings RLG-98-011, RLG-98-012Figure ( 8) Endcap Detail, Drwing RLG-98-017Figure ( 9 i Pressure StatisticsFigure ( 10) RLG above OMU in Anti-Vibration MountFigure r 11) Crossbow 6-Axis DMUFigure (12) Axiom Single-Board Computr DimensionsFigure ( 13) 24 C-cii Alkaline Battry PackFigure ( 14 i Chassis Wiring Block DiagramFigure (15) Power Supply Interface Circuit Diagram
1
556677899
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Abstract
A Honeywell GG1320AN Digitl Ring Laser Gyroscope (RLG), typically an aviation sensor, hasben adapted for use as part of a navigation package rated to ocean depths of 6,00 metrs.Researchers and engineers at the Dep Submergence Laboratory (DSL) of the Woods HoleOceanographic Institution (WOI) designed a high-densit instrument package around the basic RLG.The integrated instrument is modular and field serviceable. It includes a chassis, housing, a Crossbow6-axis dynamic measurement unit (DMU), battry backup, power regulation, support circuitry androbust intrfaces. A pressure-proo titnium case and non-corroding accessories ensure that the RLG
wil remain unaffected by prolonged immersion in seawater. Asociated mountng bracketry allow thehousing to be axially registered alongside the navigation suites of various deep diving WHOI assets,or wit any host platform capable of carring a 25 pound payload. Primary RLG platforms wil be the
manned deep submergence vehicle ALVIN, the unmanned remotely operated vehicle JASON, and theunmanned autonomous vehicle ABE. As an extremely accurate yaw rate measunng device, the RLGwil provide navigation data far more reliable and precise than has ben available to scientists in thepast. The WHOI RLG has been used successfully on one JASON cruise. (197) Keywords:submersible, navigation, gyroscope.
Atlas Centur RLG Platform
3
WH! Packaging for aRing Las.. Gyrosco
1.0 Introduction
A Honeywell Model GG1320AN Digital Ring Laser Gyroscope (RLG) was obtained by the DeepSubmergence Operations Group (DSOG) of the Woods Hole Ocanographic Institution (WHOI) through agrant from the National Science Foundation (NSF). The RLG arrved in-house as a stand-alone unit(Figure ( 1 J) with a military speccation, softare guidelines and mounting documentation. In order to usethis precision navigation sensor effectively with various deep submergence assets of the National DeepSubmergence Facilit, a projec was undertaken to design and build an "ultimate-ocean-depth" (6,OOOm)instrumentation package, which would highlight the RLG as its primary sensor.
1.1 Package Design
The new RLG package had a number of assumed requirements. The design had to withstandprolonged operations at extreme ocean depths. It would experience equally stressful terrestrialenvironments, regularly transferred from one DSOG asset to another, shipped long distances, and handledby various operations groups around the world. A dense packing factor was desirable due to the limitedpayload capabilities of most unmanned underwater vehicles (ROVs and AUVs) such as JASON and ABE.The packaging challenge was undertaken by researchers and engineers at the Deep SubmergenceLaboratory and was completed in less than six weeks.
1.2 Operational Advantages
Engineers of the DSOG hope that the RLG will solve a long-standing problem with themeasurement of heading on deep-iving vehicles of all kinds. True heading is essential for a variety ofgeophysical measurements as well as for ocean floor map-making. For example, when a sonar map is to beproduce, true heading must be registered within the long-baseline navigation net, otherwse specicstations and samples will not be properly located.
Currently, a mechanical free gyro is used to measure vehicle heading (yaw rate) changes and aflux gate compass is used to measure absolute heading. (ROVs and AUVs cannot normally carr true north-seeking gyroscopes because of their large size.) The smaller free gyro has good dynamic properties andperforms adequately in a vehicle's servo-loop (or auto-heading) softare, but a flux gate compass is tooheavily fitered for servo purpses.
To date vehíce navigators hae been limited to the blending of heading information from these twosensors and they have been faced wih two significant problems. First, the free gyro must be initialized toacquire a "true" heading reference and the flux gate compass must be relied upon to provide that reference.However, the compass can be corrpted by local magnetic anomalies, particulariy those that are found indeep volcanic terrain where heading deflections of several tens of degrees are not uncommon. Second, themechanical gyro can drift up to several degrees per hour so it must be regulariy reset. The strong possibilitof resetting the gyro to a corrpted compass reference can produce incorrect heading values for theremainder of a dive.
The RLG solves both of these problems. Because the RLG drift rate is extremely low (a fraction ofa degree per day), it can be initialized in concert with a support ship's true north-seeking gyro prior to vehicledeployments. Since the unit is battery-backed and has very low drift, it maintains the north headingreference and does not have to be reset throughout a typical ROV or AUV dive, which may last severaldays. Use of an RLG brings vehicle heading information to new levels of reliability and accuracy.
4
WHOI Packaging for aRing Laser Gyoscope
2.0 RLG Dep Sea Platforms
Figure (2): Launching the ALVIN DSV
2.1 Dep Submergence Vehicle (DSV) ALVIN
The ALVIN wil not use the pressure-proof housing provided wih the package. Instead the RLGchassis and its integral titanium endcap will be mounted inside the one-atmosphere personnel sphere. Alightweight plastic housing tube and plastic endcap will replace the heavier, titanium housing belL. Auxiliaryconnections on the plastic endcap that do not ordinarily penetrate the housing will be made available toALVIN operators.
Figure (31: Launching the JASON ROV
2.2 Remotely Operated Vehicle (ROV) JASON
The JASON vehicle (Figure ( 3 D has an existing 6-axis atitude package on board. In preliminaryfield operations the RLG will be registered to the planes of the JASON sensors so that complementary datamay be examined. In this application the RLG in its housing wil be mounted to the side of the main ROVbody.
5
WHOI Pacaging for aRing Lase Gyroscope
2.3 Autonomous Underwater Vehicle (AUV ABE
Figure ( 4): Launching the ABE AUV
The scheme for mounting the RLG onto the ABE vehicle (Figure ( 4 J) has not yet been specifed.The RLG and its housing will most probably reside on the lower of the three main pods (white).
3.0 Instrument Housing
3.1 Bell
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Figure ( 5): Seamless Bell Housing
The RLG bell housing (Figure (5 J and Drawing RLG-98-016) is unconventional for a grade 5 (6AL-4V alloy) titanium housing that is longer than most 8 inch lathe cutting bars and that has a outside diametergreater than 4 inches. In this case the housing had to be 5.75 inches 00, 14 inches long, with a D.5-inchthick wall and a O.75-inch thick flat endplate to meet or exceed the depth specification.
A conventional housing would consist of two endcaps and a tube; a procss involving trepanning asolid rod to produce a tube and an intemal slug. However, if the package in this projec were to be especiallyreliable, the elimination of one endcap was deemed essentiaL. A boring procss performed by a specialtymachine shop was arranged rather than employing the usual trepanning. Although the slug normally leftover from the trepanning procss is somewhat valuable in that it can be used to make another smaller
6
WHOI Packaging for aRing Laser Gyrosco
housing, it was decided that the loss of the slug into shavings from the bonng process was a cost-effectivetradeoff.
A tube with one welded endcap was also considered, but producing a seamless bell (as shownabove) in a single $600 boring operation was logistically sound and effciently eliminated additional #2endcap design time, fixtunng, machining and welding.
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Figure r 6): Endcap and Axial Registering Connector Guard
3.2 Endcap and Accessories
The endcap (Figure r 6 J and Drawing RLG-98-017) was designed with both face and radial o-nngseals. The radial groove is beveled on the inner surface to capture and hold the seaL. The endcap is securedto the bell by four 316 stainless scrws. When the endcap is separated from the housing bell the entirechassis and battery pack are removed with it. This design allows the bell to be safely set-aside dunngtrouble-shooting sessions.
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The RLG and the DMU are stacked and solidly affxed to theendcap longitudinal centerline. Bothsensors are rotationally registered within half a degree of each other, and of the outboard threaded boltpatterns of both the housing bell and endcap.
The bolt pattems accpt the axal registration bracetry (Figures r 6 J r 7 J), which is made of one-inch thick, white polyethylene. The bracketry transfers the planar alignment of the RLG and DMU to the hostvehicle. The bracketry contains three finger holes to aid in separaing the endcap from the belL. The endcapbracket surrounds the 7 -pin bulkhead connector and protecs it from rotational stresses.
7
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3.2.2 Feedthrough Connectors
Two Impulse bulkhead feedthroughs were added to the endcap (Figure r 8 D: LPBH-7-FS\SS andBH-4MP\SS. The 7 -cnductor, low-profie bulkhead provides external power from the platform and outputsserial information. The 4-conductor bulkhead accpted both a shorting plug and a standard dummy plugdepending on the operational mode.
3.2.3 Operational Modes
When a standard dummy 4-pin plug is in place the unit is fully enabled (ON) using either external(vehicle) or internal (battery) power supplies. When a 4-pin shorting dummy is in place the power supplieswould be interrpted. This mode is necssary to preserve battery power durig long OFF periods such asduring shipping or during long transit when the host vehicle may be powered down.
3.3 Pressure Rating
The assembled housing will fail at 19,055 psi or 12,929 meters or 42,417 feet (Figure r 9 n. It hasbeen pressure tested to a working depth equivalent to 10,000 psi or 6,600 meters or 21,650 feet. The designallows for a 1.94X safety margin in pressure toleranc.
8
WHI Packaging for aRing Laser Gyroscope
Figure (9): PRESSURE STATISTICS
TITANIUM ALLOY 6AL-4V. GRADE 5Yield Stress: 120.0000 KsiPoisson's ratio: 0.3250Densit: 0.1610 lblcu inElastic Modulus: 17.0000 Mpsi
TUBE CONFIGURATION ALONE (External Pressure)Inner Diameter: 4.7500 inchesOuter Diameter: 5.7500 inchesWall Thickness: 0.5000 inchesTube Length: 14.0000 inchesWeight in air: 18.59 IbsWeight in watr: 5.12 Ibs
Failure mode: Thick wall crushCollapse pressure: 19.0548 Ksi (42417 .Oft underwater)Thin wall collapse mode: 2 nodes
Thin Wall Collapse at: 43,604 psi (97,064 ft underwater)
ENDCAP CONFIGURA TION ALONE (External Pressure)Endcap Circular, FixedFree Diameter: 4.7500 inchesOuter Diameter: 5.7500 inchesEndcap Thickness: 0.7500 inchesWeight in air: 3.141bsWeight in water: 2.411bs
Endcap Failure at: 24,084 psi (53,612 ft underwater)
TUBE PLUS ENDCAP CONFIGURATIONTube Inner Diameter: 4.7500 inchesTube Outer Diameter: 5.7500 inchesTube Wall Thickness: 0.5000 inches
Tube Length: 14.0000 inches (Endcap Circular, Fixed)Free Diameter: 4.7500 inchesOuter Diameter: 5.7500 inchesEndcap Thickness: 0.7500 inchesCombined Weight In Ai: 24.86 Ibs ;In Water: 9.95 IbsInitial failure caused by:
Tube Thick Wall Crush at: 19,055 psi (42,417 ft underwatr)
4.0 Instrument Chassis
4.1 Components
Figure ( 10): RLG above DMU in Anti-Vibration Mount
9
WHOI Packaing for aRing Laser Gyroscopo
4.1.1 Honeywell RLG and Anti-Vibration Mount
The Honeywell Dig-Gyro RLG (Figure ( 8 J) provides rapid angular rate measurements in amultiplexed system. Compared to other rate sensors used by the DSOG the RLG has an extremely low drirate over time. This capability is important for navigating unmanned deep-diving platforms that may bedeployed for days at a time.
4.1.1.1 Power and Data
All data from the gyro is obtained in digital form. The unit requires +15 and +5V power inputs and ismechanically self-contained. The output provides tri-stated bi-directional asynchronous serialcommunications at 1 MegaBaud wih an 8-N-1 data byte format.
4.1.1.2 Connections
The connection for the power and signal inteiiace to the RLG is made through a 25 pin micro Dpair. The RLG will mate with a MIL-C-83513/1 or a MIL-C-83513/3 connector, and the internal contacts arecompatible with a 10147476-101 Honeywell bulkhead connector. Intercnnect cable lengths are no longerthan 3 feet per specifcations.
4.1.1.3 Mechanicals
The RLG includes a laser block assembly based on an equilateral triangular 2.0 inch per leg path-length glass-ceramic block. On the block are mounted two path-length control transducers, a readout mirrorand a mirror-mounted package, which supports readout electronics and photodiodes. The block cavity isfilled with a mixture of helium and neon gases. The laser block assembly is mounted within a housing thatconsists of an aluminum base and cover.
In order to facilitate gyro dither, the laser block mechanical inteiiace to the housing is accmplishedby means of a Super Invar dither spring. Semi-rigid upper and lower chassis plate assemblies activelydampen the dither vibration that is translated to the outer case during RLG operation. Surrounding the unitwith four circular open-cell foam cushions and ultra-stif aluminum chassis rods provides additionaldampening and audible noise reduction.
Also mounted within the aluminum housing is a set of electronic components, which provide theelectrical inteiiace to the gyro. The internal electronics provide the high voltage required for laser operation,control of gyro functions and readout of gyro information upon system request. This approach reducessystem-level complexity and reduces requirements for electrical inteiiace with the host WHOI system, whichincludes low voltage power inputs and a standard digital bus.
4.1.1.4 Reliabilit
The gyro case is environmentally sealed, is filled with dry nitrogen gas with a five- percent helium-tracer, and enclosed within a two-piece formd nickel-iron magnetic shield. The RLG can withstand impactsof 30 g's applied in any axis. It has a depth rating of 2,000 feet and an altitude rating of 70,000 feet. Its meanoperating life is 100,000 hours wih a mean time between failure (MTBF) of 150,000 hours or greater. Themature field random MTBF is 300,000 hours or greater. This military grade sensor should provide DSOGwith years of signifcant service.
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WHO! Packaging fo aRing La Gyroscop
4.1.2 Crossbow DMU
The Crossbow DMU-VG (Figure r 11 J) is an intelligent six-axis measurement system designed foraccrate X,Y,Z accleration and angle measurements in dynamic environments. The DMU outputs inertialaccleration and angular rate measurements formatted for integration with the WHat RLG system. The unitallows for data to be requested via serial command or to be transferred continuously. The DMU outputsstabilized pitch and roll calculations for platform stabilization. Measurements taken by the DMU arecomplementary to data from the RLG and other navigation systems on the host platform such as the bottom-lock Doppler. Other common DMU applications include GPS navigation, dynamic positioning, antennaepointing and flight data testing (Figure ( 1 D.
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Figure ( 12): Single-Board Computr Dimensions
4.1.3 Axom HC11 Single-Board Computer
The Axiom HC11 single-board computer (Figure r 12 J) is a functional development system whichrequires a low voltage DC input and outputs to a standard serial cable. The HC11 will procss the serial datafrom the two sensors and will compute heading and atttude information, which is then is passed on to thehost vehicle over a serial interface. The Axiom is mounted in fron of the RLG's backup battery pack andbehind two UART and one power supply printed circuit boards. It is the largest circuit board in the package.
4.1.4 WHOI UART PCBs
Two universal asynchronous reiver-transmitter (UART) printed circuit boards are mounted in theRLG chassis. Each UART board contains a 16-byte FIFO buffer. The RLG UART provides an asychronousserial interface between the RLG and the HC11. The Crossbow UART provides a similar interface to theCrossbow sensor. The RLG interfac operates at 1 MegaBaud. The Crossbow interface operaes at 38.4KiloBaud. The serial interface to the host system is provided by the Axiom HC11.
4.1.5 WHOI Power Supply Interfce
This circit card provides an isolated 15 VDC along wih an isolated 5 VDC to power the RLG. Aseparate isolated 15 VDC is also generated to power the Crossbow DMU-VG and the Axom HC11developmen board. The Datel swching converters employed by this circit are exceptionally quiet andexceed the RLG's strict power supply noise speccation. The power interface board has over-voltage andover-current protecion on all inputs and outputs.
Detail of the WHOI circuit is shown in Figure r 15 J. 01, 02 and 03 and their associatedcomponents provide 18 to 72 volts and the internl batery pack consisting of 24 alkaline c-cells. 03 is the
11
WHI Packaging fo aRing Lase Gyros~
main power swtch and it is normally biased ON via 02, which supplies a constant gate-to-sourc voltage ofapproximately 12.7 volts. When an external supply (host vehicl) is conneced betwn pins 2 and 3 of J1,01 is biased ON which shunts the base drive of 02, thus turning it OFF. With 02 off, the gate of 03 is heldvia the 220K resistor at the same voltage as its source, thus turning 03 OFF. The IN4002 blockng diode isnow forwrd biased and routes poer direcy to the input of the DC to DC converters. The transition isnearly instantaneous and the DC to DC converter input filter capactors are more than adequate to hold theload while the power swches. Shorting pins 1 and 3 of J1 will also turn 03 OFF. This provides a means ofpreserving the battery pack during long periods of shipping or storage.
Figure I 13): 24 e-ll Alkaline Pack
4.1.6 WHOiBattery Backup
The 24-cell alkaline battery pac (Figure ( 13 J) occpies the lower aft quarter of the housingvolume. The pack wraps around four printed circuit boards. Three isolating Phenolic rods penetrate the packto provide stiffness and alignment. The batteries are wired in parallel and produce a nominal 40-volt supply,which is employed when the RLG is not powered by the host vehicle during short maintenance periods orbetween deployments. When the host vehicle applies extemal power to the RLG system, the power andregulation PCB automatic1!y disables the intema! battery pacY,- Using a shor+Jng plug, the operator candisable the pack manus!!y for long periods Sl.'Ch as during shipping and storage. Whenever por isinterrpted to the RLG, crical caHbration data is slso lost, íiiihich is tl-e backup pack is important to thesystem. Pack life is estimated at about 22 hours. Lt can be replaced a spare pack in less than one hour.
5.0 References
1. Dexter, S.C., Handbook Of Oceaflooraphic Enqineerinq Materials, Robert E. Kreger PublishingCompany, Malabar, Florida, 1985.Detail Specification Document, GG1320AN Diq.Gyro Rifle Laser Gvro, Speclfication Number DS34197-
Honeywell Av¡'onics Division, Minneapolis, 1997.HaiÒare ManuaL, CMD11A8-HC11 Sinqle Board Comouíer, Mom Mamifacturing, Richardson, TX,1995Impulse Enterprises, Technical Manual and Connector Selection Guide, rev 0192, San Diego, CA,1997.Parker Seal Group, 0-Rinq Seals HandboOk, U.S. Government Manufacturing Code IdentîfcationNumber 02697, Lexington, KY, 1992.Pressure Housing Analyis, Under Pressure, Softare Program, C-ep Sea Power and Inc., SanDiego, CA, 1991. ..Shigiey, J£, Mischke, C.R, Mechanical Enqineennq DeSiqíl, 5~'¡SBN Q.07--56899-5,McGraw.Hm, Inc., Ne'\'i York, 1989.User lnterface Docment, GG"l320AN Dio-Gvro Rinq Laser Gvro, Honeywell Avionics Division,Specification Number ED7165-0"l, Cage Code 94580, Minneapolis, 1997.
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DOCUMNT LffRARYDistruton Listfor Technical Report Exclunge - July 1998
University of California, San DiegoSIO Library 0175C9500 Gilman DriveLaJolla, CA 92093-0175
Hancock Library of Biology & OceanographyAlan Hancock LaboratoryUniversity of Southern CaliforniaUniversity Park
Los Angeles, CA 90089-0371
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Marine Resources Information Center
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LibraryLamont-Doherty Geological ObservatoryColumbia UniversityPalisades, NY 10964
LibrarySerials DepartmentOregon State UniversityCorvalls, OR 97331
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Working CollectionTexas A&M UniversityDept. of OceanographyCollege Station, TX 77843
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LibraryR.S.M.A.S.University of Miami4600 Rickenbacker CausewayMiami, FL 33149
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LibraryInstitute of Ocean SciencesP.O. Box 6000Sidney, B.C. V8L 4B2CANADA
National Oceanographic LibrarySouthampton Oceanography CentreEuropean WaySouthampton S014 3ZHUK
The LibrarianCSIRO Marine LaboratoriesG.P.O. Box 1538Hobart, TasmaniaAUSTRLIA 7001
LibraryProudman Oceanographic LaboratoryBidston ObservatoryBirkenheadMerseyside L43 7 RAUNITED KINGDOM
IFREMERCentre de BrestService Documentation - PublicationsBP 70 29280 PLOUZANEFRANCE
;0272-101
REPORT DOCUMENTATION 11. REPORT NO.PAGE WHOI-98-154. Title and Subtitle
Ultimate Ocean Depth Packaging for a Digital Ring Laser Gyroscope
2. 3. Recipient's Accession No.
5. Report DateJuly 30, 1998
6.
7. Author(s) M. F. Bowen 8. Perfonning Organization Rept. No.WHOI-98-15
9. Perforing Organization Name and Address 10. Projectlask/or Unit No.
Woods Hole Oceanographic InstitutionWoods Hole, Massachusetts 02543
11. Contract(C) or Grant(G) No.
(C) OCE-9710512
(G)
12. Sponsoring Organization Name and Addres
National Science Foundation
13. Type of Report & Period Covered
Technical Report
14.
15. Supplementary Notes
This report should be cited as: Woods Hole Oceanog. Inst. Tech. Rept., WHOI-98-15
16. Abstract (Limit: 200 words)
A Honeywell GG 1320AN Digital Ring Laser Gyroscope (RLG), typically an aviation sensor, has been adapted for use aspar of a navigation package rated to ocean depths of 6,000 meters. Researchers and engineers at the Deep SubmergenceLaboratory (DSL) of the Woods Hole Oceanographic Institution (WHOI) designed a high-density instrment packagearound the basic RLG. The integrated instrment is modular and field serviceable. It includes a chassis, housing, aCrossbow 6-axis dynamic measurement unit (DMU), battery backup, power regulation, support circuitr and robustinterfaces. A pressure-proof titanium case and non-corroding accessories ensure that the RLG wil remain unaffected byprolonged immersion in seawater. Associated mounting bracketr allow the housing to be axially registered alongside thenavigation suites of varous deep diving WHOI assets, or with any host platform capable of caring a 25 pound payload.Primar RLG platforms wil be the manned deep submergence vehicle ALVIN, the unmanned remotely operated vehicleJASON, and the unmanned autonomous vehicle ABE. As an extremely accurate yaw rate measuring device, the RLG wilprovide navigation data far more reliable and precise that has been available to scientists in the past. The WHOI RLG hasbeen used successfully on one JASON cruise.
17. Document Ana.lysis a. Descriptor
UUDSVGyro
b. Identifiers/Open-Ended Tenns
c. COSATI Field/Group
18. Availability Statement
Approved for public release; distrbution unlimited.
19. Security Class (This Repor)
UNCLASSIFIED21. No. of Pages
2920. Security Class (This Page) 22. Price
See ANSI-Z39.18) Se Instructions on Reverse OPTIONAL FORM 272 (4-77
(Formerly NTIS-35)Department of Commerce
