# Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system

> Research article (GPS Solutions, 2023) · cited 20× · AI/ML

**Wikidata**: [openalex:W4366466005](https://www.wikidata.org/wiki/openalex:W4366466005)  
**Source**: https://4ort.xyz/entity/robust-state-and-protection-level-estimation-within-tightly-coupled-gnss-ins-navigation-system