A proof-of-concept project was started in the JRC in early 2014 to investigate and design a framework to improve
positioning accuracy in Intelligent Transport Systems (ITS) on the basis of the IMU sensors. In the first phase of
the project, a theoretical framework was defined and described in Report EUR 27042 EN. This technical report
describes in detail the technical solution adopted to implement the theoretical framework as a MATLAB library
providing dedicated functionalities to apply for an Accurate Positioning in Intelligent Transport System (which is
the second phase of the project). The mathematical framework developed in the first phase of the project has
been implemented into a working and self-standing MATLAB library. The MATLAB library is composed by three
functional blocks: the Extended Kalman Filter, the vehicleโs status estimation module and the Particle Filter. The
MATLAB library is capable of ingesting data in batch or real-time fashion. It elaborates the acquired data and
displays the results by means of easy to understand graphs. It interoperates with the OpenStreetMap maps to
provide georeferenced results. The report describes the main modules of the MATLAB library, how they are
connected and how they must be used. The report also describes the testing scenarios and the results of the
tests. Finally, the technical report provides recommendations on the future developments of this MATLAB library.
The MATLAB implementation and the report have been completely produced by ARES2T.
Gianmarco Baldini has only defined the operational scenarios and the requirements.JRC.E.3-Cyber and Digital Citizens' Securit
