A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

<div>Positioning errors of 10 s outage compared with visible satellite numbers. (a) The corresponding visible satellite numbers. (b) The positioning error curve obtained with the proposed method. (c) The positioning error curve obtained with the conventional method.</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations 