中国空间科学技术
UKF filtering algorithm for SINS/CNS/GNSS integrated navigation in launch inertial coordinate system
QIAO Yuxin, LIN Xueyuan, ZHANG Jisong, CHEN Xiangguang
Chinese Space Science and Technology . 2021, (5): 103 -109 .  DOI: 10.16708/j.cnki.1000-758X.2021.0072