Damien Marshall Séamus McLoone David J. Roberts Declan Delaney Tomás Ward Exploring the Effect of Curvature on the Consistency of Dead Reckoned Paths for Different Error Threshold Metrics. 77-84 2006 conf/dsrt/2006 DS-RT http://doi.ieeecomputersociety.org/10.1109/DS-RT.2006.17 db/conf/dsrt/dsrt2006.html#MarshallMRDW06