The adaptive filtering algorithm of GNSS/acoustic joint positioning
KUANG Yingcai, Lü Zhiping, WANG Fangchao, LI Linyang, YANG Kaichun
Acta Geodaetica et Cartographica Sinica . 2020, (7): 854 -864 .  DOI: 10.11947/j.AGCS.2020.20190393