http://elib.uni-stuttgart.de/opus/vollt ... r_Diss.pdf
De Engelse conclusie uit de inleiding is zeer interessant:
Autonomous navigation systems based on odometers and gyros reach, by map matching onto the road net, more favourable positioning results at an accuracy of 70cm than pure DGPS measurements so that in urban areas a reliable map matching without DGPS is possible. The integration of DGPS does not show a considerable increase in accuracy, nevertheless the integrity of hybrid systems is increased.