Multi-GNSS RTK/INS tightly coupled integrated navigation method considering ISB/IFB estimation
HAO Yushi, SUN Jianwei, SUI Xin, XU Aigong, SHI Chuang
Acta Geodaetica et Cartographica Sinica . 2022, (11): 2265 -2272 .  DOI: 10.11947/j.AGCS.2022.20210124