A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase...http://www.google.fr/patents/US8140223?utm_source=gb-gplus-shareBrevet US8140223 - Multiple-antenna GNSS control system and method
