MissBeamNet: learning missing Doppler velocity log beam measurements

Mor Yona, Itzik Klein

Research output: Contribution to journalArticlepeer-review


One of the primary means of sea exploration is autonomous underwater vehicles (AUVs). To perform these tasks, AUVs must navigate the rough challenging sea environment. AUVs usually employ an inertial navigation system (INS), aided by a Doppler velocity log (DVL), to provide the required navigation accuracy. The DVL transmits four acoustic beams to the seafloor, and by measuring changes in the frequency of the returning beams, the DVL can estimate the AUV velocity vector. However, in practical scenarios, not all the beams are successfully reflected. When only three beams are available, the accuracy of the velocity vector is degraded. When fewer than three beams are reflected, the DVL cannot estimate the AUV velocity vector. For such situations, only model-based approaches have been proposed to estimate missing beams. This paper presents a data-driven approach, MissBeamNet, to regress the missing beams in partial DVL beam measurement cases. To that end, a deep neural network (DNN) model is designed to process the available beams along with past DVL measurements to regress the missing beams. The AUV velocity vector is estimated using the available measured and regressed beams. To validate the proposed approach, sea experiments were made with the "Snapir" AUV, resulting in an 11 h dataset of DVL measurements. Our results show that the proposed system can accurately estimate velocity vectors in situations of missing beam measurements. Our dataset and codebase implementing the described framework is available at: https://github.com/ansfl/MissBeamNet.

Original languageEnglish
Pages (from-to)4947-4958
Number of pages12
JournalNeural Computing and Applications
Issue number9
StatePublished - Mar 2024

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2023.


  • Autonomous underwater vehicles
  • Deep learning
  • Doppler velocity log
  • Navigation

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence


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