jgg     2013 33 (3):  97-101    ISSN: 0412-1961  CN: 21-1139/TG RESEARCH ON APPLICATION OF TIGHTLY COUPLED INS/GNSS 〖JZ〗BASED ON ROBUST EXTENDED KALMAN FILTER 1) Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052 2) 72946 Troops of  PLA, Zibo 255000 3) 96251 Troops of  PLA, Luoyang 471000 Received: 2012-06-26  Revised: null  Online: 2013-06-18 Supporting info