State transformation extended Kalman filter–based tightly coupled strapdown inertial navigation system/global navigation satellite system/laser Doppler velocimeter integration for seamless navigation of unmanned ground vehicle in urban areas. - Du, Xue-Yu; Wang, Mao-song; Wu, Wen-qi; Zhou, Pei-yuan; Cui, Jia-rui (International Journal of Advanced Robotic Systems, 2023)