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To eliminate inertial navigation systems (INS) error accumulating with time, it is presented that a map-matching algorithm based on curvature analysis, which can provide INS with highly reliable and accurate navigation information. And this information can be used to eliminate accumulative error. This algorithm matches a vehicle trace that changes significantly in curvature to the corresponding section of roads, and acquires highly accurate position information. Experimental results show the new map matching algorithm can differentiate similar candidate routes correctly and has high robustness in terms of INS position error.