Küchük Muhammad was succeeded by his son Mahmud bin Küchük in 1459, from which point on the Golden Horde came to be known as the Great Horde. Mahmud was succeeded by his brother Ahmed Khan bin Küchük in 1465. In 1469, Ahmed attacked and killed the Uzbek Abu'l-Khayr Khan. In the summer of 1470, Ahmed organized an attack against Moldavia, the Kingdom of Poland, and Lithuania. By August 20, the Moldavian forces under Stephen the Great defeated the Tatars at the battle of Lipnic. In 1474 and 1476, Ahmed insisted that Ivan III of Russia recognize the khan as his overlord. In 1480, Ahmed organized a military campaign against Moscow, resulting in a face off between two opposing armies known as the Great Stand on the Ugra River. Ahmed judged the conditions unfavorable and retreated. This incident formally ended the "Tatar Yoke" over Rus' lands. On 6 January 1481, Ahmed was killed by Ibak Khan, the prince of the Khanate of Sibir, and Nogays at the mouth of the Donets River.