I’m using DVL-A50 on my system for localization of the robot which feeds the mapping algorithm with multibeam sonar.
But as you suppose, DVL itself drift a lot on long distances due to integration errors.
I started to thinking of integrating DVL into Ardupilot (Ardusub) system to support the DVL data.
I have a question to be sure at first.
Will it increase accuracy of localization? Does it take the DVL measurements into extended Kalman Filter(EKF)? How is your results about this integration?
Thanks for the answers in advance.