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We have a body that goes underwater (let's say a whale) with magnetometer and accelerometer data. I also have GPS, date, depth, pressure and temperature data. I want to know if there is any simple way (Matlab code most preferably) to combine data from magnetometer and accelerometer to find a way to estimate speed of the body (whale).

I have thought of 2 ways to perform this but I don't know how to proceed:

  1. Differentiate depth to determine speed of descend
  2. Use acceleration and magnetic data to determine pitch, roll, yaw (I prefer this method).

Please feel free to provide a link if there is an already-existing matlab code for all of this.

Feel free to ask question so I can further explain. No gyroscope data

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  • $\begingroup$ what axis is the accelerometer on? $\endgroup$ – Tiger Guy Mar 23 '20 at 11:17
  • $\begingroup$ Maybe this particular video can help you and in general the whole series may provide you with some knowledge around sensor fusion. m.youtube.com/watch?v=0rlvvYgmTvI $\endgroup$ – Teo Protoulis Mar 23 '20 at 15:58
  • $\begingroup$ @TigerGuy I am not sure exactly. How can I check and answer your question? Sorry but I am quite new at all these. $\endgroup$ – StavPan Mar 24 '20 at 20:45

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