For citations:

Fokin G.A., Vladyko A.G. Positioning of Vehicles with the Fusion of Time of Arrival, Angle of Arrival and Inertial Measurements in the Extended Kalman Filter. Proceedings of Telecommunication Universities. 2021;7(2):51-67. (In Russ.) https://doi.org/10.31854/1813-324X-2021-7-2-51-67