Disturbance analysis of underwater positioning acoustic ray and design of piecewise exponential weight function
WANG Xinpu, XUE Shuqiang, QU Guoqing, LIU Yixu, YANG Wenlong
Acta Geodaetica et Cartographica Sinica . 2021, (7): 982 -989 .  DOI: 10.11947/j.AGCS.2021.20200424