fixed error in DVL kalman filter and added sonar navigation
Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Merge branch 'vehicle_refactor_2014' of https://github.com/tortugaRAM/tortuga into vehicle_refactor_2014
merged in changes from robot into shuttle