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城市峡谷 GPS 信号易受多径干扰,VB-UKF 通过 Student-t 分布自动抑制异常值,定位 RMSE 降超 50%。融合 IMU 实现实时鲁棒导航,仿真验证优于经典 UKF。了解算法细节与实现,立即提升您的定位精度!