To synchronize the IMU and DVL data, you can follow these steps:
1. Determine a common time reference: Since you have timestamps for both the IMU and DVL data, you can select a common time reference point that aligns with both datasets. This can be a specific timestamp or an event that occurred simultaneously in both datasets.
2. Resample the data: Since the sampling rates of the IMU and DVL data are different, you need to resample one of the datasets to match the sampling rate of the other. In this case, you can resample the DVL data to 123Hz to match the IMU data.
3. Align the timestamps: Once you have a common time reference and the datasets have the same sampling rate, you can align the timestamps of the IMU and DVL data. This involves finding the corresponding timestamps in both datasets that are closest to each other.
4. Perform sensor fusion: Now that the IMU and DVL data are synchronized, you can use sensor fusion techniques to estimate the position, velocity, and orientation of the AUV. Sensor fusion combines the information from multiple sensors to improve the accuracy and reliability of the estimates. Common techniques for sensor fusion include Kalman filters, particle filters, and complementary filters.
It is important to note that the synchronization process may introduce some error due to the difference in sampling rates and potential time drift between the sensors. Proper calibration and alignment of the sensors can help minimize these errors. Additionally, you may need to consider the relative orientation and position of the sensors on the AUV when fusing the data.
Overall, synchronizing the IMU and DVL data and performing sensor fusion will enable you to obtain more accurate estimates of the AUV's position, velocity, and orientation.
