# Adaptive non-holonomic constraint aiding Multi-GNSS PPP/INS tightly coupled navigation in the urban environment

> Research article (GPS Solutions, 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4381950401](https://www.wikidata.org/wiki/openalex:W4381950401)  
**Source**: https://4ort.xyz/entity/adaptive-non-holonomic-constraint-aiding-multi-gnss-ppp-ins-tightly-coupled-navigation-in-the-urban-environment