# Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements

> Research article (Control Engineering Practice, 2016) · cited 29× · AI/ML

**Wikidata**: [openalex:W2566502732](https://www.wikidata.org/wiki/openalex:W2566502732)  
**Source**: https://4ort.xyz/entity/nonlinear-observer-design-for-gnss-aided-inertial-navigation-systems-with-time-delayed-gnss-measurements