# A Robust Cubature Kalman Filter with Abnormal Observations Identification Using the Mahalanobis Distance Criterion for Vehicular INS/GNSS Integration

> Research article (Sensors, 2019) · cited 48× · AI/ML

**Wikidata**: [openalex:W2990262304](https://www.wikidata.org/wiki/openalex:W2990262304)  
**Source**: https://4ort.xyz/entity/a-robust-cubature-kalman-filter-with-abnormal-observations-identification-using-the-mahalanobis-distance-criterion-for-v