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hardware-based errors
Pini, M., and D. Akos, "Exploiting GNSS signal structure to enhance observability", IEEE Transactions on Aerospace and Electronic Systems, vol. 43, no. 4, pp. 1553 -1566, 10/2007.
high level language
Biancardi, A., V. Cantoni, D. Codega, and M. Pini, "An interactive tool for C.V. tutorials", Computer Architecture for Machine Perception, 1997. CAMP '97. Proceedings Fourth IEEE International Workshop on, pp. 170 -174, oct, 1997.