# A Novel Optimal Robust Adaptive Scheme for Accurate GNSS RTK/INS Tightly Coupled Integration in Urban Environments

> Research article (Remote Sensing, 2023) · cited 10× · AI/ML

**Wikidata**: [openalex:W4385309093](https://www.wikidata.org/wiki/openalex:W4385309093)  
**Source**: https://4ort.xyz/entity/a-novel-optimal-robust-adaptive-scheme-for-accurate-gnss-rtk-ins-tightly-coupled-integration-in-urban-environments