Hybrid derivative-free EKF for USBL/INS tightly-coupled integration in AUV. - Yanrui Geng; João Borges de Sousa (AIS, 2010)

Accuracy analysis of DVL/IMU/magnetometer integrated navigation system using different IMUs in AUV. - Yanrui Geng; Ricardo Martins; João Borges de Sousa (ICCA, 2010)