INS/CNS integrated navigation method for lunar rover
NING Xiao-lin，CAI Hong-wei，WU Wei-ren，FANG Jian-cheng，ZHANG Xue-liang
Journal of Systems Engineering and Electronics . 2011, (8): 1837 -1844 .  DOI: 10.3969/j.issn.1001-506X.2011.08.30