# An improved GNSS/INS navigation method based on cubature Kalman filter for occluded environment

> Research article (Measurement Science and Technology, 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4309473612](https://www.wikidata.org/wiki/openalex:W4309473612)  
**Source**: https://4ort.xyz/entity/an-improved-gnss-ins-navigation-method-based-on-cubature-kalman-filter-for-occluded-environment