A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle
XIN Mingzhen, YANG Fanlin, XUE Shuqiang, WANG Zhenjie, HAN Yunfeng
Acta Geodaetica et Cartographica Sinica . 2020, (12): 1535 -1542 .  DOI: 10.11947/j.AGCS.2020.20190518