6Yang Yuanxi,Xu Tianhe. An Adaptive Kalman Filter Based on Sage Window Weights and Variance Components [J]. The Journal of Navigation, 2003,56:231-240
7Mohamed A H, Schwarz K P. Adaptive Kalman Filtering for INS/GPS [J]. Journal of Geodesy,1999, 73:193-203
8Wang Jinling, Stewart M P, Tsakiri M. Adaptive Kalman Filtering for Integration of GPS with GLO-NASS and INS [C]. IUGG/IAG, Brimingham,1999
9Rogers S R. Alpha-beta filter with correlated measurement noise[J]. IEEE Transactions on Aerospace and Electronic Systems, 1987, 23(4): 592-594.
10Salzmann M, Teunissen. Detection and modeling of colored noise for Kalman filter applications[A]. Kinematic Systems in Geodesy, Surveying and Remote Sensing[C]. New York: Springer-Verlag, 1991, 251-260.
