@inproceedings{jalving_gade_hagen_vestgard_2003, 
  title={A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system}, 
  DOI={10.1109/oceans.2003.178505}, 
  publisher={IEEE}, 
  author={Jalving and Gade and Hagen and Vestgard}, 
  year={2003}
  }