Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments

arXiv:2606.19687v1 Announce Type: new Abstract: To address cumulative localization drift of unmanned ground vehicles in structured road environments under severe Global Navigation Satellite System signal occlusion, this paper proposes a robust route-constrained state estimation method. During perio