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Yin Z, Yang J, Ma Y, Wang S, Chai D, Cui H. A Robust Adaptive Extended Kalman Filter Based on an Improved Measurement Noise Covariance Matrix for the Monitoring and Isolation of Abnormal Disturbances in GNSS/INS Vehicle Navigation. Remote Sensing. 2023; 15(17):4125. https://doi.org/10.3390/rs15174125

Yin, Zhihui, Jichao Yang, Yue Ma, Shengli Wang, Dashuai Chai, and Haonan Cui. 2023. "A Robust Adaptive Extended Kalman Filter Based on an Improved Measurement Noise Covariance Matrix for the Monitoring and Isolation of Abnormal Disturbances in GNSS/INS Vehicle Navigation" Remote Sensing 15, no. 17: 4125. https://doi.org/10.3390/rs15174125

Yin, Z., Yang, J., Ma, Y., Wang, S., Chai, D., & Cui, H. (2023). A Robust Adaptive Extended Kalman Filter Based on an Improved Measurement Noise Covariance Matrix for the Monitoring and Isolation of Abnormal Disturbances in GNSS/INS Vehicle Navigation. Remote Sensing, 15(17), 4125. https://doi.org/10.3390/rs15174125