Low cost manner of gaining car position utilizing odometry, MEMS gyroscope and magnetometer

This article deals with data fusion from vehicle’s odometer, gyroscope, and magnetometer. The accuracy of positioning using odometer is depending on driven distance instead of time increasing error in inertial navigation systems. The combination of odometer for translation and magnetometer compensated gyroscope for rotational information seems to be sufficient solution for short-term GNSS signal outages, like driving through tunnels.