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CDIP: Compressed Delayed-Information Projection for Underwater Navigation Under Acoustic Measurement Latency

The paper proposes compressed delayed-information projection (CDIP), which handles delayed-arrival acoustic position measurements in a 15-dimensional error-state Kalman filter (ESKF), retaining source-associated IMU snapshots and the current-to-snapshot cross-covariances, so delayed corrections can be projected without repeating the filter from the start.

Part of the event: Paper proposes compressed delayed information projection method for underwater navigation

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