David Bernal, Pau Closas, Eduard Calvo, Juan A. Fernández-Rubio. Tight GNSS/INS integration as a constrained least-squares problem. In 17th European Signal Processing Conference, EUSIPCO 2009, Glasgow, Scotland, UK, August 24-28, 2009. pages 85-89, IEEE, 2009. [doi]
Abstract is missing.