Tightly coupled LiDAR/UWB/INS multi-sensor fusion model based on IESRKF
Linghan YAO, Tianhe XU, Yangzi CONG, Zhen ZHANG, Jianping XING
Acta Geodaetica et Cartographica Sinica . 2026, (5): 809 -825 .  DOI: 10.11947/j.AGCS.2026.20250313