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Improved robust Kalman filter for state model errors in GNSS-PPP/MEMS-IMU double state integrated navigation

State EstimationRobust Kalman FilterState Model ErrorsInertial SensorsGnss-ppp/mems-imu Double StateEngineeringAutomatic NavigationAerospace EngineeringGlobal Navigation Satellite SystemAircraft NavigationSystems EngineeringAutonomous NavigationSignal Processing