基于Vondrak粗差探测的抗差EKF算法在GPS导航中的应用

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张亮,高井祥,李增科,王坚

THE APPLICATION OF ROBUST EKF ALGORITHM BASED ON 
VONDRAK GROSS ERROR DETECTION TO GPS NAVIGATION

Zhang Liang，Gao Jingxiang，Li Zengke and Wang Jian

大地测量与地球动力学 . 2014, (6): 97 -101 .