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Though there still are underwater labs getting used and there were many labs used in the past to gain a working knowledge of the underwater world, SEA-LAB is probably probably the most famous where many experiments have been carried out and a large amount of data was gleaned from these studies. Examples of such ranged from:

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An Perspective Heading Reference System is many folds better in performance than a standard IMU’s. This system is designed to perform. It prices less than a standard IMU’s and it performs higher. It offers highly accurate 3D orientation. The essential distinction between an AHRS and IMU’s is the addition of an accurate ob-board processing system within the AHRS. This on-board processing system gives solved attitude and heading solutions, unlike an IMU that transfers sensor information to an additional device that solves perspective and heading solutions.