Doppler Velocity Log (DVL)

A Doppler Velocity Log Sensor, which simulates the emitting of sound waves to calculate relative vehicle velocity to the seafloor or other objects that the sound waves bounce off of.

See DVLSensor for the Python API.

Example sensor definition:

{
    "sensor_type": "DVLSensor",
    "socket": "DVLSocket",
    "Hz": 20,
    "configuration": {
        "Elevation": 22.5,
        "DebugLines": false,
        "VelSigma": 0.02626,
        "ReturnRange": true,
        "MaxRange": 50,
        "RangeSigma": 0.1
    }
}