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. 2017 Nov 23;17(12):2709. doi: 10.3390/s17122709

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Estimates of $ϕ^{G}$ in experiment: (a) Estimates of $ϕ^{G}$ based on polar coarse alignment algorithm for polar UUV navigation; (b) Estimates of $ϕ^{G}$ based on conventional coarse alignment algorithm for polar UUV navigation; (c) Estimates of $ϕ^{G}$ based on transversal coarse alignment algorithm for polar UUV navigation.