A robust factor-graph-based GNSS+INS integrated navigation algorithm for unmanned vehicles in complex environments with wheel odometry assistance
LI Bo, WANG Yipeng, ZOU Xuan, SHANG Hongmeng, XU Yuling, BAO Guoqing
Bulletin of Surveying and Mapping . 2025, (12): 46 -51 .  DOI: 10.13474/j.cnki.11-2246.2025.1208