# Windowing-Based Factor Graph Optimization With Anomaly Detection Using Mahalanobis Distance for Underwater INS/DVL/USBL Integration

> Research article (IEEE Transactions on Instrumentation and Measurement, 2024) · cited 42× · AI/ML

**Wikidata**: [openalex:W4390826037](https://www.wikidata.org/wiki/openalex:W4390826037)  
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