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This paper explores the applicability of on-board diagnostics data for minimizing inertial navigation errors in vehicles. The results of driving tests were presented and discussed. Knowledge of a vehicle’s exact initial position and orientation was crucial in the navigation process. Orientation errors at the beginning of navigation contributed to positioning errors. GPS data were not processed by the algorithm during navigation. Correspondence: Piotr Prusaczyk, Zespół Mechatroniki, Katedra Mechatroniki, Wydział Mechatroniki i Lotnictwa, Wojskowa Akademia Techniczna, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warszawa 46, e-mail: piotr.prusaczyk@wat.edu.pl. * Research notes (short communications).

Vehicle Navigation Systems Involving Inertial Sensors and Odometry Data from On-Board Diagnostics in Non-Gps Applications