Media type: E-Article Title: New optimal smoothing scheme for improving relative and absolute accuracy of tightly coupled GNSS/SINS integration Contributor: Zhang, Xiaohong; Zhu, Feng; Tao, Xianlu; Duan, Rui imprint: Springer Science and Business Media LLC, 2017 Published in: GPS Solutions Language: English DOI: 10.1007/s10291-017-0601-1 ISSN: 1080-5370; 1521-1886 Origination: Footnote: