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This paper presents an autonomous GPS/INS design method for inter-vehicle application using data fusion. To achieve widely application, this system integrated with DSRC communication to apply cooperative driving. Inertia Navigation System is capable to backup GPS unavailability. An autonomous system integrated different sensors to offer robots or remotely operated systems a reliable navigation means. The integrated system addresses an autonomous design method to accomplish collision avoidance and continuously position positioning based on GPS positioning, gear-box speed, odometry, IMU and DSRC in cooperative driving or deck reckoning.