MEMS-INS/GNSS/VO integrated navigation method based on robust EKF
Wenhua LI, Lixin WANG, Qiang SHEN, Can LI, Zongshou WU
Systems Engineering and Electronics . 2022, (6): 1994 -2000 .  DOI: 10.12305/j.issn.1001-506X.2022.06.27