For citations:

Dubrovin F.S., Scherbatyuk A.F. Study of the algorithms for the single beacon mobile navigation of unmanned underwater vehicles: results of simulation and sea trials. Giroskopiya i Navigatsiya. 2015;23(4):160-172. (In Russ.) https://doi.org/10.17285/0869-7035.2015.23.4.160-172