# Improved Cubature Kalman Filter for GNSS/INS Based on Transformation of Posterior Sigma-Points Error

> Research article (IEEE Transactions on Signal Processing, 2017) · cited 100× · AI/ML

**Wikidata**: [openalex:W2592189561](https://www.wikidata.org/wiki/openalex:W2592189561)  
**Source**: https://4ort.xyz/entity/improved-cubature-kalman-filter-for-gnss-ins-based-on-transformation-of-posterior-sigma-points-error