The Novel Gravity-Matching Algorithm Based on Modified Adaptive Transformed Cubature Quaternion Estimation for Underwater Navigation - Zhu, Tiangao; Qin, Fangjun; Li, An; Li, Kailong; Yan, Jiujiang; Qian, Leiyuan (Journal of marine science and engineering, 2025)
Keywords: Accuracy; adaptive Kalman filter; Algorithms; Comparative analysis; error model; Gravity; gravity-aided navigation; Inertial navigation; Inertial navigation (Aeronautics); Matching; matching algorithm; Navigation systems; Noise measurement; Quaternions; Velocity