INS-Aided GNSS Pseudo-Range Error Prediction Using Machine Learning for Urban Vehicle Navigation Zhang, Tisheng ; Zhou, Long ; Feng, Xin ; Shi, Jinwei ; Zhang, Quan ; Niu, Xiaoji Abstract Publication: IEEE Sensors Journal Pub Date: March 2024 DOI: 10.1109/JSEN.2024.3355705 Bibcode: 2024ISenJ..24.9135Z