# Improved Preintegration Method for GNSS/IMU/In-Vehicle Sensors Navigation Using Graph Optimization

> Research article (IEEE Transactions on Vehicular Technology, 2021) · cited 27× · AI/ML

**Wikidata**: [openalex:W3201684605](https://www.wikidata.org/wiki/openalex:W3201684605)  
**Source**: https://4ort.xyz/entity/improved-preintegration-method-for-gnss-imu-in-vehicle-sensors-navigation-using-graph-optimization