Nonzero velocity interval attitude estimation CKF algorithm based on acceleration compensation for inertial pedestrian navigation
Xibin WANG, Hongde DAI, Wenjie QUAN, Rui WANG, Linsheng JIA
Systems Engineering and Electronics . 2023, (9): 2894 -2901 .  DOI: 10.12305/j.issn.1001-506X.2023.09.29