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Cited article:

Initial Covariance Estimation and Analysis for EKF Localization Using Route-Based Experimental Data

Muhammad Haniff Gusrial, Nur Aqilah Othman, Hamzah Ahmad, Mohd Hasnun Arif Hassan and Norhidayah Mohamad Yatim
Franklin Open 100533 (2026)
https://doi.org/10.1016/j.fraope.2026.100533