“…Therefore, a more reliable navigation solution is required (Li et al, 2021). To meet this requirement, scholars focus on navigation based on the integration of GNSS and multiple sensors, such as IMU, RGB camera, lidar, odometer, and magnetometer (Zhao et al, 2020). GNSS/INS coupled navigation is one of the research hotspots at present (Chen et al, 2021;Jiang et al, 2021;Zhang et al, 2020).…”