X. Yun, E. R. Bachmann, R. B. McGhee, R. H. Whalen, R. L. Roberts, R. G. Knapp, A. J. Healey, M. J. Zyda; Testing and evaluation of an integrated GPS/INS system for small AUV navigation (SANS), Proceedings of the Tenth International Symposium on Unmanned Untethered Submersible Technology, vol. 10, pp. 101 - 108, September 1997.
Don Brutzman, Mike Burns, Mike Campbell, Duane Davis, Tony Healey, Mike Holden, Brad Leonhardt, Dave Marco, Dave McClarin, Bob McGhee, Russ Whalen; NPS Phoenix AUV software integration and in-water testing, Proceedings of 1996 Symposium on Autonomous Underwater Vehicle Technology, pp. 99 - 108, June 1996.
E. R. Bachmann, R. B. McGhee, R. H. Whalen, R. Steven, R. G. Walker, J. R. Clynch, A. J. Healey, X. P. Yun; Evaluation of an integrated GPS/INS system for shallow-water AUV navigation (SANS), Proceedings of 1996 Symposium on Autonomous Underwater Vehicle Technology, pp. 268 - 275, June 1996.
R. B. McGhee, J. R. Clynch, A. J. Healey, S. H. Kwak, D. P. Brutzman, X. P. Yun, N. A. Norton, R. H. Whalen, E. R. Bachmann, D. L. Gay, W. R. Schubert; An experimental study of an integrated GPS/INS system for shallow-water AUV navigation (SANS), Proceedings of the Ninth International Symposium on Unmanned Untethered Submersible Technology, vol. 9, pp. 153 - 167, September 1995.
S. H. Kwak, C. D. Stevens, J. R. Clynch, R. B. McGhee, R. H. Whalen; An experimental investigation of GPS/INS integration for small AUV navigation, Proceedings of the Eighth International Symposium on Unmanned Untethered Submersible Technology, vol. 8, pp. 239 - 251, September 1993.