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A Cascaded kalman filter model-aided inertial navigation sy..:

, In: 2019 7th International Conference on Robotics and Mechatronics (ICRoM),
Alawieh, Hussein ; Sahili, Jihad - p. 104-109 , 2019
Link: https://doi.org/10.1109/ICRoM48714.2019.9071894