# A Long-Term Underwater Robust Terrain Contour-Aided Navigation Method With a Single Beam Echo Sounder

> Research article (IEEE Transactions on Aerospace and Electronic Systems, 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4396712955](https://www.wikidata.org/wiki/openalex:W4396712955)  
**Source**: https://4ort.xyz/entity/a-long-term-underwater-robust-terrain-contour-aided-navigation-method-with-a-single-beam-echo-sounder