Robust GNSS/SINS positioning based on the SE 2(3)-EKF framework
LI Xin, MENG Shuolin, HUANG Guanwen, ZHANG Qin, LI Hanxu
Acta Geodaetica et Cartographica Sinica . 2023, (10): 1640 -1649 .  DOI: 10.11947/j.AGCS.2023.20220526