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Robust attitude estimation method for underwater vehicles with external and internal magnetic noise rejection using Adaptive Indirect Kalman Filter

Andreas Widy, Kam-Tim Woo. Robust attitude estimation method for underwater vehicles with external and internal magnetic noise rejection using Adaptive Indirect Kalman Filter. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017. pages 2595-2600, IEEE, 2017. [doi]

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