In this study, by utilizing GNSS Doppler and low cost sensor, we estimate vehicle motion robustly and estimate highly accurate vehicle trajectory even in urban environment where satellite signal deteriorates. In addition, we propose a method that can improve the position accuracy by selecting the positioning result of GNSS using highly accurate vehicle locus. The proposed method intentionally does not estimate fluctuation of the clock error of the receiver, thereby making it possible to use the long distance (several 100 meters) trajectory and has the feature that position estimation accuracy is improved by the averaging effect.
