@mastersthesis {Leader1994,
	title = {{Kalman filter estimation of underwater vehicle position and attitude using Doppler velocity aided inertial motion unit}},
	volume = {O.E.},
	year = {1994},
	pages = {106},
	school = {Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution},
	type = {phd},
	address = {Cambridge, MA and Woods Hole, MA},
	keywords = {ROV DSL-120 (Remotely Operated Vehicle)},
	doi = {10.1575/1912/2418},
	url = {http://hdl.handle.net/1912/2418},
	author = {Leader, D E}
}
