Information-Aided DVL Calibration

arXiv:2606.31216v1 Announce Type: new Abstract: The Doppler velocity log (DVL) velocity measurements are critical to the accuracy of autonomous underwater vehicle (AUV) navigation solutions and, consequently, to mission success. To ensure accurate measurements, the DVL is commonly calibrated before mission start while the AUV sails on the water surface, receiving global navigation satellite system (GNSS) signals that provide accurate reference measurements. Conventionally, Kalman filter-based ap...