Integrating GPS with Dead Reckoning Sensors

A vehicle positioning system comprising a GPS receiver, a digital compass, and an odometer was tested on a 2.8-km stretch in Aalborg, Denmark. The system, which merges observations from the three instruments using a Kalman filter, has an update rate of 1 Hz and is intended for use in both urban and rural areas. The filtered positions follow the travelled route closely. A simulation suggests that the system will work even when the GPS coverage is insufficient