# A factor set-based GNSS fault detection and exclusion for vehicle navigation in urban environments

> Research article (GPS Solutions, 2023) · cited 17× · AI/ML

**Wikidata**: [openalex:W4327623192](https://www.wikidata.org/wiki/openalex:W4327623192)  
**Source**: https://4ort.xyz/entity/a-factor-set-based-gnss-fault-detection-and-exclusion-for-vehicle-navigation-in-urban-environments