# Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 31× · AI/ML

**Wikidata**: [openalex:W4285048569](https://www.wikidata.org/wiki/openalex:W4285048569)  
**Source**: https://4ort.xyz/entity/continuous-time-factor-graph-optimization-for-trajectory-smoothness-of-gnss-ins-navigation-in-temporarily-gnss-denied-en