# A Tightly Coupled RTK/INS Algorithm with Ambiguity Resolution in the Position Domain for Ground Vehicles in Harsh Urban Environments

> Research article (Sensors, 2018) · cited 24× · AI/ML

**Wikidata**: [openalex:W2809953622](https://www.wikidata.org/wiki/openalex:W2809953622)  
**Source**: https://4ort.xyz/entity/a-tightly-coupled-rtk-ins-algorithm-with-ambiguity-resolution-in-the-position-domain-for-ground-vehicles-in-harsh-urban-