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

Xun Dong, Gaoge Hu, Bingbing Gao, Yongmin Zhong, Wei Ruan. Windowing-Based Factor Graph Optimization With Anomaly Detection Using Mahalanobis Distance for Underwater INS/DVL/USBL Integration. IEEE T. Instrumentation and Measurement, 73:1-13, 2024. [doi]

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