Estimating linear motion from the Navio2 MPU

Hello everyone,

We are developing an underwater profiler vehicle and we wonder if we could assess lateral drifting (along x-axis) from the measurements registered from the Navio 2 MPU in order to keep the vehicle near the deployment point. We had planned to command the lateral motors as a function of the current velocity, which is expected to range between 0.05-0.5 m/s. Our first approach was to integrate the linear acceleration along the x-axis, but the signal is low, practically constant and easily contaminated by the other axis signals.

Our second option is to use an external sensor to measure current velocity, such us a flowmeter. However we would prefer to use an internal sensor, if possible.

Does anyone know an approach to determine lateral displacement using the Navio2?

Best regards

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