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Ding, W., Wang, J., Rizos, C., & Kinlyside, D. (2007). Improving Adaptive Kalman Estimation in GPS/INS Integration. Journal of Navigation, 60(3), 517-529. https://doi.org/10.1017/s0373463307004316
Ding W, Wang J, Rizos C, Kinlyside D. Improving Adaptive Kalman Estimation in GPS/INS Integration. Journal of Navigation. 2007;60(3):517-29.