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Journal: Sensors, 2021
Volume: 21
Number: 7910

Article: Five-State Extended Kalman Filter for Estimation of Speed over Ground (SOG), Course over Ground (COG) and Course Rate of Unmanned Surface Vehicles (USVs): Experimental Results
Authors: by Sindre Fossen and Thor I. Fossen
Link: https://0-www-mdpi-com.brum.beds.ac.uk/1424-8220/21/23/7910

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