In this report the problem of vehicular navigation based on the integration of the global positioning system and an inertial navigation system
is tackled. After analysing some fundamental technical issues about reference systems, vehicle modelling and sensors, a novel solution, combining extended Kalman filtering with particle filltering, is developed. This solution allows to embed highly non-linear constraints originating from
digital maps in the position estimation process and is expected to be implementable on commercial hardware platforms equipped with low cost
inertial sensorsJRC.G.6-Digital Citizen Securit
