Mathematical methods for personal positioning and navigation. - Niilo Sirola (2007)

PNaFF: A modular software platform for testing hybrid position estimation algorithms. - Matti Raitoharju; Niilo Sirola; Simo Ali-Löytty; Robert Piché (WPNC, 2008)

Closed-form algorithms in mobile positioning: Myths and misconceptions. - Niilo Sirola (WPNC, 2010)

A motion model for articulated vehicles and a distributed acceleration measurement system. - Niilo Sirola; Jarkko Rouhe (WPNC, 2010)

Solving Multi-GNSS Signal Biases from Undifferenced Observations. - Niilo Sirola; Jussi Parviainen; Olli Särkkä; Juha Roström (ICL-GNSS, 2020)