Abstract
This paper describes the vehicle positioning system MAP (Map-Aided Positioning) developed by NIRA Dynamics AB. MAP uses sensor fusion to combine relative position information from the wheel speed sensors with digital map information, and is capable of computing an accurate estimate of a vehicles absolute position without support from GPS or other external positioning service. MAP can also be combined with GPS, in which case a very robust and accurate positioning system is obtained. MAP is available as a software module suitable for integration in a PDA or similar hardware platform.