 The three measurements, along with the non-holonomic constraints (NHCs ) are fused with INS by an extended Kalman filter (EKF).
<clarity>  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 constraint (NHC ) are fused with INS by an extended Kalman filter (EKF).