A fuse velocity measurement method based on accelerometer and mechanical velocity measuring device is proposed

aiming at superior difficulty and low accuracy exist in the velocity measurement of underwater vehicle. This method is essentially a modified fuzzy adaptive Kalman filtering

by introducing adaptive parameters to general Kalman filtering

which is adjusted by fuzzy controller through monitoring of residuals. Through the Matlab simulation and experimental verification

this method can effectively improve the traceability of the Kalman filter and improve the filtering effect

which is suitable for general velocity measurement of underwater vehicle.