Davenport quaternion DVL calibration method based on position observation information
Hongqiong TANG, Jiangning XU, Wence SHI, Hongyang HE, Fangneng LI
Systems Engineering and Electronics . 2023, (11): 3640 -3648 .  DOI: 10.12305/j.issn.1001-506X.2023.11.32