# Observability-Constrained Resampling-Free Cubature Kalman Filter for GNSS/INS with Measurement Outliers

> Research article (Remote Sensing, 2023) · cited 24× · AI/ML

**Wikidata**: [openalex:W4386849917](https://www.wikidata.org/wiki/openalex:W4386849917)  
**Source**: https://4ort.xyz/entity/observability-constrained-resampling-free-cubature-kalman-filter-for-gnss-ins-with-measurement-outliers