Dynamic nolinear Gauss-Helmert model and its robust total Kalman filter algorithm for GNSS-acoustic underwater positioning
KUANG Yingcai, Lü Zhiping, LI Linyang, WANG Fangchao, XU Guochang
Acta Geodaetica et Cartographica Sinica . 2023, (4): 559 -570 .  DOI: 10.11947/j.AGCS.2023.20210467