diff --git a/paper/main.bib b/paper/main.bib
index fabf57e0db8d31c73a3dd33e2d870d7bf5f6534c..65f9944f7a27152e2214958f663a80682219236b 100644
--- a/paper/main.bib
+++ b/paper/main.bib
@@ -8,6 +8,18 @@ number={},
 pages={1469-1476}, 
 month={July},}
 
+@ARTICLE{4770175, 
+author={I. Skog and P. Handel}, 
+journal={IEEE Transactions on Intelligent Transportation Systems}, 
+title={In-Car Positioning and Navigation Technologies?A Survey}, 
+year={2009}, 
+volume={10}, 
+number={1}, 
+pages={4-21}, 
+doi={10.1109/TITS.2008.2011712}, 
+ISSN={1524-9050}, 
+month={March},}
+
 @book{Liggins:2008,
  author = {Liggins, Martin E. and Llinas, James and Hall, David L.},
  title = {Multisensor Data Fusion},
diff --git a/paper/sections/04-fusion.tex b/paper/sections/04-fusion.tex
index 9186ff650a604f106fd1a56f0cc91cd92eff81b9..0a68af423d651e7b541f91874c91a4dc4f31ddc0 100644
--- a/paper/sections/04-fusion.tex
+++ b/paper/sections/04-fusion.tex
@@ -1,5 +1,5 @@
 The proposed model is general and can be used for many different
-purposes.  The abstraction offered by the model devised in this paper
+purposes. The abstraction offered by the model devised in this paper
 allows for analysis and synthesis of control strategies. This section
 introduces its use in the context of sensor fusion. Sensor
 fusion~\cite{Liggins:2008} refers to a set of techniques for merging
@@ -33,7 +33,9 @@ compensate for the low frequency erors.
 The GPS model devised in this paper captures the delays introduced by
 the GPS receiver and its power consumption. This allows us to
 rigorously study an optimal sampling method for the GPS sensor, with
-respect to a given accuracy and power consumption target.
+respect to a given accuracy and power consumption target. On the
+contrary, the model used for the sensor fusion algorithm is
+well-known, and we base our results on~\cite{4770175}.
 
 \subsection{The Sensor Fusion Algorithm}
 \label{sec:fusion:algo}