Clock-free synchronous localization method of deep-sea UUV based on sound ray correction with grazing angle and differential iterationYuzhu KANG, Xiaohong SHEN, Haiyan WANG, Yongsheng YAN and Haitao DONGJNWPU, 43 3 (2025) 496-508DOI: https://doi.org/10.1051/jnwpu/20254330496
