Underwater gravimeter on board the R-One robot

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/sup -6/ G); a few problems remain to be solved.