Have you tried the Impact Subsea ISM3D sensor?
The ISM3D is a highly accurate underwater Attitude & Heading Reference System.
This sensor provides underwater vehicles with Heading, Pitch and Roll.
Uniquely for a MEMS based heading and motion sensor, it has an inertial mode which provides immunity against local magnetic interference.
The ISM3D utilises high grade MEMS based Accelerometers, Angular Rate Gyroscopes and Magnetometers all of which feed into an advanced fusion engine driven by a dual core micro-processor.
The unit provides Heading to ±1° of local Magnetic North with Pitch and Roll to ±0.07° accuracy.
Provided in a Titanium housing, depth rated to 6,000 meters, with a length of 65mm – the ISM3D sets a new standard in size, durability and capability.
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