# A Robust Backtracking CKF Based on Krein Space Theory for In-Motion Alignment Process

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2022) · cited 19× · AI/ML

**Wikidata**: [openalex:W4312793322](https://www.wikidata.org/wiki/openalex:W4312793322)  
**Source**: https://4ort.xyz/entity/a-robust-backtracking-ckf-based-on-krein-space-theory-for-in-motion-alignment-process