Improving GNSS road navigation integrity using MEMS INS and odometry

This paper focuses on a robust and precise car navigation system, which can also be used in GNSS denied or spoofed scenarios. The system is based and designed for so called `On Board Units' (OBU), which are already used for professional road toll and tracking applications. The system combines GNSS and dead reckoning (DR) trajectories, based on odometry and inertial navigation.