These two standalone navigation solution, LBL positioning and DVL dead-reckoning, are a complementary pair of information sources. Fusing these sources can exploit both the precision of the DVL solution and the accuracy of the LBL reference. The introduction to this section provided a qualitative discussion of this integration, and there are many excellent references with the details of how to combine these two sensing modalities. (Whitcomb, Yoerger, & Singh, 1999) (Larsen M. B., 2000).
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