Matrix algorithm for enhancing the performance of DVL

An accurate matrix algorithm for enhancing the performance of DVL is described.By the aid of the high-precision frequency measurement,the real-time inputs of the body attitude,the least-square esti-mation and the matrix algorithm,the measured-accuracies of the 3 components of the body-velocity vector are better than 0.1%.By the aid of high-precision delay measurement,the least-square estimation and the matrix algorithm,the local sea-bottom beneath the vessel body can be reconstructed,so as to,the mea-sured accuracy of the body-height is better than 1% and the bottom-attitude for pilot can also be obtain.