Tightly coupled ultrashort baseline and inertial navigation system for underwater vehicles: An experimental validation

M. Morgado Department of Electrical and Computer Engineering, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisbon, Portugal e-mail: [email protected] P. Oliveira Department of Mechanical Engineering, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisbon, Portugal e-mail: [email protected] C. Silvestre Department of Electrical and Computer Engineering, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisbon, Portugal Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China e-mail: [email protected]