METHOD FOR ESTIMATING NAVIGATION DATA OF A LAND VEHICLE USING ROAD GEOMETRY AND ORIENTATION PARAMETERS

The invention concerns a method for estimating navigation date of a land vehicle, comprising steps of: recciving inertial data (100) acquired by an inertial sensor, receiving geometry and orientation parameters of a travelled road, integrating (106) the data on the basis of the parameters in order to produce navigation data comprising a movement of the vehicle relative to the road measured in a direction (Zr, Yr), the vehicle only being able to move in the direction within a bounded interval without leaving the road, estimating (108) an error affecting the navigation data by sol ing equations assuming that a difference between the calculated movement and a reference movement constitutes an error in the movement of the vehicle parallel to the direction, the reference movement having a value less than or equal to the length of the interval, correcting (110) the produced navigation data from the estimated error.