High-Precision LBL/INS Round-Trip Tightly Coupled Navigation Based on Constrained Acoustic Ray-Tracking and RTS Smoothing. - Yangfan Liu; Tianhe Xu; Wenfeng Nie; Junting Wang 005; Jianxu Shu; Shengqiu Zhang; Wenlong Yang (IEEE Trans. Veh. Technol., 2024)