Nonlinear Modeling of Azimuth Error for  2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering

<table>Max. Position error during 120-second GPS outages.</table>

International Journal of Navigation and Observation

Figure 9: Nonlinear Modeling of Azimuth Error for  2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering 