An integrated approach to underwater wireless communication and orientation estimation using visible light is presented and demonstrated using a simplified 1-DOF system. This system utilizes a long range, high bandwidth optical communication system as a reference with which to rectify error in the prediction of the orientation state. This is done through the use of a Discrete Kalman Filter. In this way, a dual-use system is developed. Using the same hardware, this system can simultaneously communicate using a modulated light source, and estimate, with accuracy, absolute orientation in space. This orientation knowledge is vital to maintaining a line-of-sight link for the communication system. In addition, orientation estimation is important for the various tasks that the underwater robot must perform.

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