Nhờ mấy anh down gium` 2 bài báo này:
Neural Network Aided Adaptive Kalman Filter for Multi-sensors Integrated Navigation
http://www.springerlink.com/content/j4frf7xr6rhkcj10/
GPS/INS Navigation Filter Designs Using Neural Network with Optimization Techniques
http://www.springerlink.com/content/g07221k05026161j/