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As one of the most promising research directions, cooperative location with high precision and low-cost IMU is becoming an emerging research topic in many positioning fields. Low-cost MEMS/DVL is a preferred solution for dead-reckoning in multi-USV cooperative network. However, large misalignment angles and large gyro drift coexist in low-cost MEMS that leads to the poor observability. Based on cubature Kalman filter (CKF) algorithm that has access to high accuracy and relative smalldoi:10.1155/2014/186785 fatcat:lumv7mzh7nhttinvbwwjbggdxi