External AHRS is integrated with DVL

Blue Robotics Software ArduSub
1

Hey Team,
I want to use DVL and External AHRS at the same time, is this possible?
Can DVL speed data be integrated with External AHRS IMU DATA?

Thanks for the reply.

3

Hi @chichi,

I just stumbled across this post.

As far as I’m aware, your options for doing this are either:

  1. Implement the DVL integration/handling in your EAHRS, before the data gets sent to the autopilot, or
  2. Use the sensors from the EAHRS, but use the autopilot’s EKF (so it can still fuse in data from additional sensors)
    • This does require compatibility from the relevant EAHRS backend/driver in ArduPilot
    • The VectorNav EAHRS option can seemingly be used like this
    • I believe relevant data types would need to be specified as ExternalNav in the EK3_SRC parameters