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López Casariego, E., E. Pérez, G. Falco, M. Campo-Cossío Gutiérrez, F. Zacchello, and S. Bories, "Low-cost Real-time Tightly-coupled GNSS/INS Navigation System Based on Carrier Phase Double Differences for UAV Applications", ION GNSS+, Tampa, Florida, USA, 09/2014.