The Inertial Navigation System records the AUV's movement in three axes

The inertial navigation system (INS) records the movement of the autonomous underwater vehicle (AUV) in three axes: up/down, left/right, and backward/forward. This system has been used for decades on above-water vehicles, like ships, but only recently has it been miniaturized for underwater vehicles. Image courtesy of www.odewit.net

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