@article {Bingham2006,
	title = {{Hypothesis grids: Improving long baseline navigation for autonomous underwater vehicles}},
	journal = {IEEE Journal of Oceanic Engineering},
	volume = {31},
	number = {1},
	year = {2006},
	pages = {209{\textendash}218},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0364-9059},
	doi = {10.1109/joe.2006.872220},
	url = {http://dx.doi.org/10.1109/joe.2006.872220},
	author = {Bingham, B and Seering, W}
}
