**Acknowledgements**

This work was partially supported by the EEA/Norway grant No. NF-CZ07-ICP-3-2082015 supported by the Ministry of Education, Youth and Sports of the Czech Republic and named Enhanced Navigation Algorithms in Joint Research and Education, and partially by Norwe‐ gian Research Council (projects no. 221666 and 223254) through the NTNU Centre of Auton‐ omous Marine Operations and Systems (NTNU AMOS) at the Norwegian University of Science and Technology.
