# Lie group based nonlinear state errors for MEMS-IMU/GNSS/magnetometer integrated navigation

> Research article (Journal of Navigation, 2021) · cited 56× · AI/ML

**Wikidata**: [openalex:W3136671688](https://www.wikidata.org/wiki/openalex:W3136671688)  
**Source**: https://4ort.xyz/entity/lie-group-based-nonlinear-state-errors-for-mems-imu-gnss-magnetometer-integrated-navigation