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The nonlinear filtering problem is a hot spot in robot navigation research. As an advanced method that can effectively improve the robustness and accuracy of the system, the progressive Gaussian approximate filter with variable step size (PGAFVS) still has some shortcomings, how to resolve the nonlinear filtering problem in the application of tightly coupled integration under the premise of the prior uncertainty and further promote robustness high measurement accuracy, which becomes the purposedoi:10.5755/j01.itc.51.1.29776 fatcat:hgiiimjktvehllmsszcjq7smpa