说明：  多普勒计程仪作为一种导航仪器出现并发展了很长时间，但是传统的声 学多普勒导航仪使用的还是简单的窄带信号，由于窄带信号时间带宽积没有 增益，这一性质使传统的 DVL 在测速精度、距离分辨率、作用距离和测速可 靠性等方面都不能令人满意，因而限制了其应用范围，但随着水声技术与信 号处理技术的发展，使得声学多普勒测速系统的各项性能有了显著的提高，
(Doppler log as a navigational instrument appeared and developed for a long time, but the traditional sound Simple narrowband signals are still used in Doppler Navigator because the time-bandwidth product of narrowband signals is not available. Gain, which enables traditional DVL to measure velocity accurately, range resolution, operating distance and velocity. The reliability and other aspects are unsatisfactory, which limits its application scope, but with the development of underwater acoustic technology and information technology. With the development of signal processing technology, the performance of acoustic Doppler velocimetry system has been greatly improved.)