## REFERENCES

Arasaratnam, I. and Haykin, S. (2009). Cubature Kalman filters. IEEE Transactions and Automatic Control, 54(6): 1254–1269.

Chen, Y. R. and Yuan, J. P. (2009). An improved robust H∞ multiple fading fault-tolerant filtering algorithm for INS/GPS integrated navigation. Journal of Astronautics, 30(3), 930–936.

Einicke, A. and White, B. (1999). Robust extended Kalman filtering. IEEE Transactions on Signal Processing, 47(9), 2596–2599.

Gao, S. S., Wang, J. C. and Jiao, Y. L. (2010). Adaptive SVD-UKF algorithm and application to integrated navigation. Journal of Chinese Inertial Technology, 18(6): 737–742.

Geng, Y. R. and Wang, J. L. (2008). Adaptive estimation of multiple fading factors in Kalman filter for navigation applications. GPS Solutions, 12(4), 273–279.

Grejner-Brzezinska, D., Da, D. and Toth, C. (1998). GPS error modelling and OTF ambiguity resolution for high-accuracy GPS/INS integrated system. Journal of Geodesy, 72(11), 626–638.

Gustafsson, F. (2010). Particle filter theory and practice with positioning applications. IEEE Aerospace and Electronic SystemsMagazine, 25(7): 53–82.

Hung, Y. and Yang, F. (2003). H_{∞} filtering with error variance constraints for discrete time-varying systems with uncertainty. Automatica, 39(7): 1185–1194.

Liu, J., Cai, B.G., Tang, T. and Wang, J. (2010). CKF-based robust filtering algorithm for GNSS/INS integrated train positioning. Journal of Traffic and Transportation Engineering, 10(5), 102–107.

Petovello, M.G. (2003). *Real-time integration of tactical grade IMU and GPS for high-accuracy positioning and navigation*, *University of Calgary. PhD thesis*, 214–215.

Shaked, U. and Souza, C. (1995). Robust minimum variance filtering. IEEE Transactions on Signal Processing, 43(11), 2474–2483.

Simon, D. (2006). Optimal state estimation: Kalman, H∞ and nonlinear approaches. John Wiley & Sons.

Sun, F. and Tang, L. J. (2012). INS/GPS integrated navigation filter algorithm based on cubature Kalman filter. Control and Decision, 27(7): 1032–1036.

Wendel, J., Metzger, J., Moenikes, R., Maier, A. and Trommer, F. (2006). A performance comparison of tightly coupled GPS/INS navigation systems based on extended and sigma point Kalman filters. NAVIGATION, Journal of the Institute of Navigation, 53(1): 21–31.

Xiong, K., Wei, C. and Liu, L. (2012). Robust Kalman filtering for discrete-time nonlinear systems with parameter uncertainties. Aerospace Science and Technology, 18(1), 15–24.

Yan, G.M., Yan, W. M. and Xu, D. M. (2008). Application of simplified UKF in SINS initial alignment for large misalignment angles. Journal of Chinese Inertial Technology, 16(3): 252–263.

Yi, Y. and Grejner-Brzezinska, D. (2006). Tightly-coupled GPS/INS integration using unscented Kalman filter and particle filter. *19th International Technical Meeting of the Satellite Division of the Institute of Navigation*: 2182–2191.

Yahali, T. and Shake, U. (1996). Robust discrete-time minimum-variance filtering. IEEE Transactions on Signal Processing, 44(2), 181–189.