基于双领航者的多AUV协同导航系统可观测性分析
ＧＡＯ Ｗｅｉ，ＬＩＵ Ｙａｌｏｎｇ，ＸＵ Ｂｏ
Systems Engineering and Electronics . 2013, (11): 2370 -2375 .