# An invariant error-based SINS/DVL/USBL tightly coupled integrated navigation algorithm and its robust state estimator

> Research article (Ocean Engineering, 2023) · cited 19× · AI/ML

**Wikidata**: [openalex:W4389726370](https://www.wikidata.org/wiki/openalex:W4389726370)  
**Source**: https://4ort.xyz/entity/an-invariant-error-based-sins-dvl-usbl-tightly-coupled-integrated-navigation-algorithm-and-its-robust-state-estimator