For citations:

Yuyukin I.V. Opportunistic navigation applied to integration of alternative positioning and electronic mapping based on spline technology. Vestnik Gosudarstvennogo universiteta morskogo i rechnogo flota imeni admirala S. O. Makarova. 2023;15(4):617-632. (In Russ.) https://doi.org/10.21821/2309-5180-2023-15-4-617-632