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Invariant Extended Kalman Filtering for Tightly Coupled LiD..:

Shi, Pengcheng ; Zhu, Zhikai ; Sun, Shiying..
IEEE/ASME Transactions on Mechatronics.  28 (2023)  4 - p. 2213-2224 , 2023
Link: https://doi.org/10.1109/tmech.2022.3233363