# A robust graph optimization realization of tightly coupled GNSS/INS integrated navigation system for urban vehicles

> Research article (Tsinghua Science & Technology, 2018) · cited 77× · AI/ML

**Wikidata**: [openalex:W2896413958](https://www.wikidata.org/wiki/openalex:W2896413958)  
**Source**: https://4ort.xyz/entity/a-robust-graph-optimization-realization-of-tightly-coupled-gnss-ins-integrated-navigation-system-for-urban-vehicles