# Integrity Risk Minimisation in RAIM Part 2: Optimal Estimator Design

> Research article (Journal of Navigation, 2016) · cited 22× · AI/ML

**Wikidata**: [openalex:W4244931670](https://www.wikidata.org/wiki/openalex:W4244931670)  
**Source**: https://4ort.xyz/entity/integrity-risk-minimisation-in-raim-part-2-optimal-estimator-design