# A closed-loop EKF and multi-failure diagnosis approach for cooperative GNSS positioning

> Research article (GPS Solutions, 2015) · cited 17× · AI/ML

**Wikidata**: [openalex:W2179008168](https://www.wikidata.org/wiki/openalex:W2179008168)  
**Source**: https://4ort.xyz/entity/a-closed-loop-ekf-and-multi-failure-diagnosis-approach-for-cooperative-gnss-positioning