A Calibration Method of USBL Installation Error Based on Attitude Determination. - Yongyun Zhu; Tao Zhang 008; Shouquan Xu; Hyo-Sang Shin; Peijuan Li; Bonan Jin; Liang Zhang 033; Chengcheng Weng; Yao Li 005 (IEEE Trans. Veh. Technol., 2020)