# External AHRS is integrated with DVL

**URL:** <https://discuss.bluerobotics.com/t/external-ahrs-is-integrated-with-dvl/19441>\
**Category:** ArduSub\
**Tags:** ardusub\
**Created:** [February 20, 2025, 8:00am UTC](https://discuss.bluerobotics.com/t/external-ahrs-is-integrated-with-dvl/19441 "2025-02-20T08:00:04Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![chichi](https://avatars.discourse-cdn.com/v4/letter/c/ac91a4/32.png) [@chichi](https://discuss.bluerobotics.com/u/chichi)\
**Post date:** [February 20, 2025, 8:00am UTC](https://discuss.bluerobotics.com/t/external-ahrs-is-integrated-with-dvl/19441/1 "2025-02-20T08:00:04Z")

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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.

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**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [January 23, 2026, 10:11am UTC](https://discuss.bluerobotics.com/t/external-ahrs-is-integrated-with-dvl/19441/3 "2026-01-23T10:11:50Z")

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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](https://ardupilot.org/sub/docs/common-external-ahrs-vectornav.html#use-as-an-external-sensor-set)
  - I believe relevant data types would need to be specified as `ExternalNav` in the [`EK3_SRC`](https://ardupilot.org/sub/docs/parameters.html#ek3-src-parameters) parameters