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A CKF based GNSS/INS train integrated positioning method:

, In: 2010 IEEE International Conference on Mechatronics and Automation,
Liu, Jiang ; Cai, Bai-gen ; Tang, Tao. - p. 1686-1689 , 2010
Link: https://doi.org/10.1109/ICMA.2010.5588839