# Detection of slowly varying spoofing using weighted Kalman gain in GNSS/INS tightly coupled systems

> Research article (GPS Solutions, 2024) · cited 12× · AI/ML

**Wikidata**: [openalex:W4390636081](https://www.wikidata.org/wiki/openalex:W4390636081)  
**Source**: https://4ort.xyz/entity/detection-of-slowly-varying-spoofing-using-weighted-kalman-gain-in-gnss-ins-tightly-coupled-systems