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inekf

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zhang123-1999 / ins-gnss-odo-nhc-fusion

INS/GNSS/ODO/NHC integrated navigation framework comparing InEKF and ESKF under GNSS outage and large initial errors.

cpp navigation gnss sensor-fusion kalman-filter odometry integrated-navigation ins eskf non-holonomic-constraint inekf gnss-outage

Updated Jun 3, 2026
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