@ARTICLE{9444664, author={Potokar, Easton R. and Norman, Kalin and Mangelson, Joshua G.}, journal={IEEE Robotics and Automation Letters}, title={Invariant Extended Kalman Filtering for Underwater Navigation}, year={2021}, volume={6}, number={3}, pages={5792-5799}, doi={10.1109/LRA.2021.3085167}}