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[14]Li Z, Zhang H, Zhou Q, et al. An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation[J]. Sensors: basel, Switzerland, 2017, 17(9):2032. https://www.mdpi.com/1424-8220/17/9/2032/html#B9-sensors-17-02032 我第一次接触IAE和RAE这两个词是在上面这篇论文的综述部分，对应的参考文献也在上面这篇论文里有