# An Effective Integrity Monitoring Scheme for GNSS/INS/Vision Integration Based on Error State EKF Model

> Research article (IEEE Sensors Journal, 2022) · cited 50× · AI/ML

**Wikidata**: [openalex:W4213451485](https://www.wikidata.org/wiki/openalex:W4213451485)  
**Source**: https://4ort.xyz/entity/an-effective-integrity-monitoring-scheme-for-gnss-ins-vision-integration-based-on-error-state-ekf-model