Marginalized Point Mass Filter with Estimating Tidal Depth Bias for Underwater Terrain-Aided Navigation

<div>Illustration of inserting and removing grid points in an index-based adaptive grid method: (a) inserting and (b) removing grid points with indexes.</div>

Journal of Sensors

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Figure 2

Figure 2: Marginalized Point Mass Filter with Estimating Tidal Depth Bias for Underwater Terrain-Aided Navigation 