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Tracker 650
Tracker 650
  • Overview
    • CERULEANTRACKER DEPRECATION NOTICE
  • Quick Start for BlueROV / ArduSub Users
  • General Specifications
  • Configuring the Tracker 650
    • Finding the Configuration Web Page
    • Example Configuration Web Page
    • Live Status Page
    • Setting the Static IP Address
    • Setting the Fallback IP Address
    • Setting the Host IP Address
    • Setting the MAVLink REST Server Parameters
    • Setting Pool Mode
    • Setting DVL Mounting Rotation Offsets
      • Scenario: Driving Your Own Kalman Filter
        • Forward-Facing Mount
    • Setting Velocity Adjustment
  • General Usage
    • General Hints and Tips
    • Basic Operating Guidelines and Hints
    • Setting Speed of Sound
    • Scenario: Doing Your Own Dead Reckoning
    • Scenario: Holding Position
  • Using MAVLink and BlueOS for Position Hold on a BlueROV2
    • ArduPilot Parameters
    • Tracker 650 Setup for MAVLink Support
    • Global Origin
  • Mounting the Tracker 650
    • Bottom Mount
    • Thruster Deck Mount
      • Send xxx Message
  • Mounting Drawings (V1 pre-2025)
  • Communicating with the Tracker 650
    • Factory Defaults and Default Messages
    • The Ethernet Interface
    • Tips on How to Find the IP Address Assigned to Your Ethernet Adapter
    • Outgoing Message Formats, Tracker 650 to Host
      • $DVPDL and $DVPDX: DVL Position and Angle Deltas Messages
      • $DVNVM Non-Volatile Memory and Configuration
      • Freeform Error and Informational messages ($DVTXT)
      • $DVKFC Kalman Filter Raw Data Support Message
    • Commands Accepted by the Tracker 650
      • CONFIGURATION
      • SET-VELOCITY-ADJUSTMENT
        • SET-SPEED-OF-SOUND
      • SEND-DVPDL
      • SEND-DVPDX
      • SEND-DVKFC
      • SEND-MAVLINK-DISTANCE
      • MAVLINK-ORIGIN
      • SET-POSITION
      • SET-SENSOR-ORIENTATION
      • IP-ADDRESS
      • HOST-ADDRESS
      • MAVLINK-ADDRESS
      • FALLBACK-ADDRESS
      • UNICAST-TO-ME
      • PAUSE
      • RESUME
      • REBOOT
      • SET-POOL-MODE
    • Blue Robotics Discovery Protocol (Ethernet Only)
    • ARP (Address Resolution Protocol)
    • DHCP (Dynamic Host Configuration Protocol)
    • Ping (Internet Control Message Protocol Ping)
  • Coordinate Systems
  • Mounting Drawings (V2 post-2024)
  • CAD Models
  • Electrical Drawings
    • Power and Ethernet Cabling
  • Expectations
  • Copyright
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  1. General Usage

Scenario: Doing Your Own Dead Reckoning

PreviousSetting Speed of SoundNextScenario: Holding Position

Last updated 2 months ago

You might want to do your own dead reckoning or use velocity data in the ROV’s coordinate frame. You can do this by enabling the $ (position delta) or $ (extended position delta) output. If you are writing dead reckoning software take care to understand the different coordinate system used in the $DVPDL/X messages.

Once you have the delta position data (which is equivalent to a distance moved for each sample), you can convert the distances to distance vectors using your own orientation refence such as the heading data computed by the ROV's flight controller. By integrating the distance vectors, you can compute the distance from your starting location.

Dead reckoning is simpler than the explanation above sounds, and here are many sources of information on how to do dead reckoning, such as .

If you have a BlueROV with current software, it can already do dead reckoning. See and .

If the Tracker 650 loses track of the target plane by flying too high or too low, or if there are issues like heavy vegetation that absorb the sonar signal, the unit will indicate the issue by send a low confidence value, and the delta positions given will be zero. This will cause your dead reckoning to stop updating position while the issue persists.

DVPDL
DVPDX
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