Localization

[abrandemuehl]

In the final sub, we're going to have a bunch of sensors (unlike last year). We should run some sort of sensor fusion (probably some sort of kalman filter) to fuse them for dead reckoning.

The sensors we'll have are:
3 IMU's - Pixhawk, Sparton, ZED
Bottom Camera - Could do optical flow
Front Stereo Camera - Should receive pose estimates, velocity estimates and point clouds
Depth sensor
Hydrophones - If we get OceanComm positioning working we get pretty good positioning here, otherwise we can hopefully get some information from the pingers