# An expectation-maximization based single-beacon underwater navigation method with unknown ESV

> Research article (Neurocomputing, 2019) · cited 38× · AI/ML

**Wikidata**: [openalex:W2987370694](https://www.wikidata.org/wiki/openalex:W2987370694)  
**Source**: https://4ort.xyz/entity/an-expectation-maximization-based-single-beacon-underwater-navigation-method-with-unknown-esv