# Improved IMU Preintegration with Gravity Change and Earth Rotation for Optimization-Based GNSS/VINS

> Research article (Remote Sensing, 2020) · cited 18× · AI/ML

**Wikidata**: [openalex:W3089609480](https://www.wikidata.org/wiki/openalex:W3089609480)  
**Source**: https://4ort.xyz/entity/improved-imu-preintegration-with-gravity-change-and-earth-rotation-for-optimization-based-gnss-vins