School of Computer and software Nanjing University of Information Science and Technology Nanjing 210044 ChinaJiangsu Engineering Center of Network Monitoring Nanjing University of Information Science and Technology Nanjing 210044 China;
School of Computer and software Nanjing University of Information Science and Technology Nanjing 210044 ChinaJiangsu Engineering Center of Network Monitoring Nanjing University of Information Science and Technology Nanjing 210044 China;
Department of Computer Science Ball State University Muncie 47306 USA;
School of Computer and software Nanjing University of Information Science and Technology Nanjing 210044 ChinaJiangsu Engineering Center of Network Monitoring Nanjing University of Information Science and Technology Nanjing 210044 China;
Transfer alignment; SINS; lever-arm effect; AUV; observability analysis;