https://pi4kreceptor.com/index.....php/improved-output
For underwater Strapdown Inertial Navigation System (SINS)/Doppler Velocity Log (DVL) integration system, there are periods between DVL's transmitting and obtaining epochs, which presents velocity errors once the attitude powerful does occur. To speed up the coarse alignment procedure for SINS/DVL with mindset dynamics, an improved in-motion coarse positioning option would be suggested. Very first, the DVL aided in-
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