# Attitude determination method integrating square-root cubature Kalman filter with expectation-maximization for inertial navigation system applied to underwater glider

> Research article (Review of Scientific Instruments, 2019) · cited 23× · AI/ML

**Wikidata**: [openalex:W2972248574](https://www.wikidata.org/wiki/openalex:W2972248574)  
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