Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms
CHENG Feng, LI Haixia, CHANG Le, WANG Li, NIU Xiaoji
测绘通报 . 2019, (5): 30 -34 .  DOI: 10.13474/j.cnki.11-2246.2019.0144