# A Robust SINS/USBL Integrated Navigation Algorithm Based on Earth Frame and Right Group Error Definition

> Research article (IEEE Transactions on Instrumentation and Measurement, 2022) · cited 29× · AI/ML

**Wikidata**: [openalex:W4290716830](https://www.wikidata.org/wiki/openalex:W4290716830)  
**Source**: https://4ort.xyz/entity/a-robust-sins-usbl-integrated-navigation-algorithm-based-on-earth-frame-and-right-group-error-definition