# A Fault-Tolerant Polar Grid SINS/DVL/USBL Integrated Navigation Algorithm Based on the Centralized Filter and Relative Position Measurement

> Research article (Sensors, 2019) · cited 25× · AI/ML

**Wikidata**: [openalex:W2972725124](https://www.wikidata.org/wiki/openalex:W2972725124)  
**Source**: https://4ort.xyz/entity/a-fault-tolerant-polar-grid-sins-dvl-usbl-integrated-navigation-algorithm-based-on-the-centralized-filter-and-relative-p