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A GRU-based multiple sensor error compensation aided Error-State Kalman Filter (ESKF) framework significantly reduces position uncertainty and improves navigation accuracy by up to 86-90% compared to state-of-the-art systems in degraded GNSS environments. Novelty: ClaimNovelty.METHODOLOGICAL. Consensus alignment: ConsensusAlignment.NEUTRAL.

Aleatoric Uncertainty Reduction in a Multisensor Navigation System Using Gated Recurrent Unit

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