Confidence-gated Q/R covariance scheduling on one continuous EKF modestly but consistently improves BlueROV2 pool dead reckoning over a single global noise profile.
A robust INS/USBL/DVL integrated navigation method based on adaptive correlation entropy factor graph optimization,
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Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Confidence-gated Q/R covariance scheduling on one continuous EKF modestly but consistently improves BlueROV2 pool dead reckoning over a single global noise profile.