DVLs - Doppler Velocity Logs
A DVL is a sonar system that measures motion under water. DVLs emit sound bursts along beams angled downward in various directions. Echoes that are scattered off the seabed are returned. Because the DVL sonar is aboard a moving vehicle,returning echoes carry a change in pitch; this is the Doppler Effect. Combining these readings tells how fast the vehicle is movingand in what direction.
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