Estimating DVL Velocity in Complete Beam Measurement Outage Scenarios

Itzik Klein, Yevgeni Gutnik, Yeshaya Lipman

Research output: Contribution to journalArticlepeer-review


Autonomous underwater vehicles commonly employ a Doppler velocity log to achieve an accurate navigation solution. In real-world scenarios, like when operating in complex environments, situations of complete Doppler velocity log outages may occur, leading to a rapid degradation in the navigation solution. To circumvent such situations, this paper proposes an approach to estimate the platform’s velocity vector based on past Doppler velocity log measurements and a motion model, for short time periods. At-sea experiments were conducted using two types of autonomous underwater vehicles, each with a different Doppler velocity log, to collected data for a total time duration of 90 minutes. This dataset was employed to show the benefits of using the proposed approach.

Original languageEnglish
Pages (from-to)1
Number of pages1
JournalIEEE Sensors Journal
StateAccepted/In press - 2022

Bibliographical note

Publisher Copyright:


  • Autonomous Underwater vehicle
  • Autonomous underwater vehicles
  • Doppler effect
  • Doppler Velocity Log
  • Navigation
  • Sea measurements
  • Time measurement
  • Trajectory
  • Underwater navigation
  • Velocity measurement

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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