@article{jiang2024innovation,
  title={Innovation-based Kalman filter fault detection and exclusion method against all-source faults for tightly coupled GNSS/INS/Vision integration},
  author={Jiang, Haitao and Yan, Dayu and Wang, Jiale and Yin, Jie},
  journal={GPS Solutions},
  volume={28},
  number={3},
  pages={1--17},
  year={2024},
  publisher={Springer}
}