# DVL-Aided SINS In-Motion Alignment Filter Based on a Novel Nonlinear Attitude Error Model

> Research article (IEEE Access, 2019) · cited 15× · AI/ML

**Wikidata**: [openalex:W2944469659](https://www.wikidata.org/wiki/openalex:W2944469659)  
**Source**: https://4ort.xyz/entity/dvl-aided-sins-in-motion-alignment-filter-based-on-a-novel-nonlinear-attitude-error-model