@TechReport{Carlsson:4759,
    author =       "Carlsson, Jesper ",
    title =           "Enhancement of Positioning and Attitude
                  Estimation Using Raw {GPS} Data in an Extended {K}alman
                  Filter",
    school =       "Department of Electrical Engineering, Linköping University",
    year =          "2014",
    number =          "Master's Thesis No~{LiTH-ISY-EX--14/4759--SE}"
}