# A Novel Method for AI-Assisted INS/GNSS Navigation System Based on CNN-GRU and CKF during GNSS Outage

> Research article (Remote Sensing, 2022) · cited 56× · AI/ML

**Wikidata**: [openalex:W4295215140](https://www.wikidata.org/wiki/openalex:W4295215140)  
**Source**: https://4ort.xyz/entity/a-novel-method-for-ai-assisted-ins-gnss-navigation-system-based-on-cnn-gru-and-ckf-during-gnss-outage