Research on robust filtering for GNSS / IMU integrated navigation of vehicle-borne ground penetrating radar 
Chi Jiageng 1 , Zhang Zhixiang 2 , Xu Da 1 , Zhao Han 1 , Chen Yilin 1 , Wu Qiong 1 , Jia Junqian 1∗
World Geology . 0, (): 1 . 

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