# Enhancing the reliability of shipborne INS/GNSS integrated navigation system during abnormal sampling periods using Bi-LSTM and robust CKF

> Research article (Ocean Engineering, 2023) · cited 27× · AI/ML

**Wikidata**: [openalex:W4387552427](https://www.wikidata.org/wiki/openalex:W4387552427)  
**Source**: https://4ort.xyz/entity/enhancing-the-reliability-of-shipborne-ins-gnss-integrated-navigation-system-during-abnormal-sampling-periods-using-bi-l