A comparison of state space, range space, and carrier phase differential GPS/INS relative navigation. - Walton R. Williamson; Jeehong Min; Jason L. Speyer; Jay Farrell (ACC, 2000)

An Instrumentation System Applied to Formation Flight. - Walton R. Williamson; Mamoun F. Abdel-Hafez; Ihnseok Rhee; Eun-Jung Song; Jonathan D. Wolfe; David F. Chichka; Jason L. Speyer (IEEE Trans. Control. Syst. Technol., 2007)