Integration of DVL with ArduSub Firmware

In this paper, we will discuss on how the Doppler Velocity Log (DVL), is an acoustic sensor that is used to measure high precision underwater navigation and positioning by estimating velocity relative to the sea bottom, is integrated with ArduSub Firmware. The ArduSub Firmware is an open-source solution for Remotely Operated underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs). An attempt is also made to use SITL (Software In The Loop), which is a simulator that allows one to evaluate the ArduSub code's behaviour without using hardware.