A Novel Neural Network-Based SINS/DVL Integrated Navigation Approach to Deal with DVL Malfunction for Underwater Vehicles

Table 3

DVL specifications.

Parameter item
Velocity accuracy	±0.5%V ± 0.5 cm/s
Update rate	1 Hz
Operating rate	300 kHz
Bottom-locked range	300 m
Dynamic range	−10 knot∼20 knot