 The three measurements, along with the non-holonomic constraints (NHCs ) are fused with INS by an extended Kalman filter (EKF).
<meaning-changed>  The three measurements, along with the non-holonomic constraints (NHCs ) are fused with INS by an extended Kalman filter (EKF).
 The three measurements, along with the non-holonomic constraints (NHCs ) are fused with INS through an error-state extended Kalman filter (EKF).