For citations:

Koshaev D.A. Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its Apriori Position. Part 1. Mathematical Formulation. Giroskopiya i Navigatsiya / Gyroscopy and Navigation. 2020;28(2):109-130. (In Russ.) https://doi.org/10.17285/0869-7035.0035