User requirements for the performance of Global Navigation Satellite System (GNSS)-based
road applications have been significantly increasing in recent years. Safety systems based
on vehicle localization, electronic fee-collection systems, and traveler information services
are just a few examples of interesting applications requiring onboard equipment (OBE)
capable of offering a high available accurate position, even in unfriendly environments with
low satellite visibility such as built-up areas or tunnels and at low cost. In addition to that …

Actual solutions for the road vehicle navigation problem point to the combination of GPS,
odometry and inertial sensors. To combine the information coming from these sensors, most
of actual researchers rely on the implementation of variations of the Kalman filter (KF) and
the extended Kalman filter (EKF) for non-linear systems. Despite the fact that, in these filters,
the definition of the proper vehicle model is of extreme importance, there is not a unique
common filter suitable for all the usual situations in which a road vehicle is involved. The …