Implementation and performance evaluation of an inertial navigation system/global navigation satellite system real-time kinematic Ntrip navigation system aided by a robot operating system-based emulated odometer for high-accuracy land vehicle navigation in urban environments - Moraga Galdames, Jorge Pablo; Milhor, Carlos Eduardo; Magalhães, Daniel Varela; Caurin, Glauco Augusto de Paula; Becker, Marcelo (Engineering Reports, 2020)