underwater localization

The attachment "serial_data_dvl_20240729.txt" presents the DVL sensor data collected during the experiment in this paper, including information such as timestamps, transducer data, and velocity. The line beginning with "wru" indicates the status and information of the four transducers. The four data points following "wrx" represent, in sequence, the time interval since the last data collection (in milliseconds), x-axis velocity, y-axis velocity, and z-axis velocity. The four numbers following "wrt" represent the distances from the four transducers to the seabed.