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In this paper, we propose a trajectory-aware vertical handoff algorithm based on position, velocity, signaling delay and receive signal strength (RSS) of MT. In order to provide seamless service in modern heterogeneous networks, handoff of the MT should be initiated with correct timing. In our algorithm, velocity of MT is divided into two parts as radial velocity and tangential velocity. For more precise handoff initiation, tangential velocity of MT is neglected and only radial velocity of MT is considered in handoff decision making. Moreover, before handoff decision, Least-Square-Line method is applied to RSS of MT to avoid unnecessary back-and-forth handoffs (Ping-Pong Handoffs) between different services. A simulation is provided to compare the proposed algorithm with other various handoff methods and the results proves this algorithm to have outperformed others.