# Covariance matching based adaptive unscented Kalman filter for direct filtering in INS/GNSS integration

> Research article (Acta Astronautica, 2015) · cited 156× · AI/ML

**Wikidata**: [openalex:W2221510318](https://www.wikidata.org/wiki/openalex:W2221510318)  
**Source**: https://4ort.xyz/entity/covariance-matching-based-adaptive-unscented-kalman-filter-for-direct-filtering-in-ins-gnss-integration