Predicting the navigation performance of underwater vehicles

@article{Bingham2009PredictingTN,
  title={Predicting the navigation performance of underwater vehicles},
  author={Brian Bingham},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={261-266}
}
In this paper we present a general framework for predicting the positioning uncertainty of underwater vehicles. We apply this framework to common examples from marine robotics: standalone long baseline (LBL) positioning and integrated LBL reference and Doppler velocity log (DVL) dead-reckoning. 

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