# GNSS/MIMU tightly coupled integrated with improved multi-state ZUPT/DZUPT constraints for a Land vehicle in GNSS-denied enviroments

> Research article (International Journal of Image and Data Fusion, 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W3160770983](https://www.wikidata.org/wiki/openalex:W3160770983)  
**Source**: https://4ort.xyz/entity/gnss-mimu-tightly-coupled-integrated-with-improved-multi-state-zupt-dzupt-constraints-for-a-land-vehicle-in-gnss-denied-