AUV multi-source information fusion localization method based on robust factor graph
HUANG Ziru, CHAI Hongzhou, XIANG Minzhi, DU Zhenqiang
Acta Geodaetica et Cartographica Sinica . 2023, (8): 1278 -1285 .  DOI: 10.11947/j.AGCS.2023.20210735