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How do you ensure the DVL sensor is "looking downward" (or upward)? Divers orient their body in different directions during a dive.LViz you are right, noise is always a problem. Having a down ward looking DVL might solve these problems as you are measuring to a fixed reference. We would also have other sensors like compass and inertial to aid in the calculations. For sure it is an extraordinarily complex problem that has eluded a viable and practical solution all this time