# Invariant Error-Based Integrated Solution for SINS/DVL in Earth Frame: Extension and Comparison

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

**Wikidata**: [openalex:W4312828191](https://www.wikidata.org/wiki/openalex:W4312828191)  
**Source**: https://4ort.xyz/entity/invariant-error-based-integrated-solution-for-sins-dvl-in-earth-frame-extension-and-comparison