G. Agamennoni, J. I. Nieto, and E. M. Nebot, An outlier-robust Kalman filter, 2011 IEEE International Conference on Robotics and Automation, pp.1551-1558, 2011.
DOI : 10.1109/ICRA.2011.5979605

M. Bahrami and M. Ziebart, Instantaneous Doppler-aided RTK positioning with single frequency receivers, IEEE/ION Position, Location and Navigation Symposium, pp.70-78, 2010.
DOI : 10.1109/PLANS.2010.5507202

Y. Bar-shalom, X. Li, and T. Kirubarajan, Estimation with Applications to Tracking and Navigation, 2002.
DOI : 10.1002/0471221279

R. , B. Harris, and R. G. Mach, The gpstk: an open source gps toolkit, GPS Solutions, vol.11, issue.2, pp.145-150, 2007.
DOI : 10.1007/s10291-006-0043-7

D. Bétaille, F. Peyret, M. Ortiz, S. Miquel, and L. Fontenay, A New Modeling Based on Urban Trenches to Improve GNSS Positioning Quality of Service in Cities, IEEE Intelligent Transportation Systems Magazine, vol.5, issue.3, pp.59-70, 2013.
DOI : 10.1109/MITS.2013.2263460

D. Bétaille and R. Toledo-moreo, Creating enhanced maps for lanelevel vehicle navigation. Intelligent Transportation Systems, IEEE Transactions on, vol.11, issue.4, pp.786-798, 2010.

P. Bonnifait, M. Jabbour, and G. Dherbomez, Real-time implementation of a gis-based localization system for intelligent vehicles, EURASIP Journal of Embedded Systems, vol.2007, pp.12-24, 2007.

S. Brummer, F. Janda, G. Maier, and A. Schindler, Evaluation of a mapping strategy based on smooth arc splines for different road types, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), pp.160-165, 2013.
DOI : 10.1109/ITSC.2013.6728227

T. Chang, L. Wang, and F. Chang, A Solution to the Ill-Conditioned GPS Positioning Problem in an Urban Environment, IEEE Transactions on Intelligent Transportation Systems, vol.10, issue.1, pp.135-145, 2009.
DOI : 10.1109/TITS.2008.2011709

L. Chanthalansy and A. Noureldin, Carrier-to-noise density and ai for ins/gps integration, Inside GNSS, issue.910, pp.20-29, 2009.

L. Conde, R. Chelim, and U. Nunes, Collaborative vehicle selflocalization using multi-gnss receivers and v2v/v2i communications, 2015 IEEE 18th International Conference on Intelligent Transportation Systems, pp.2525-2532, 2015.
DOI : 10.1109/itsc.2015.406

S. Cooper and H. Durrant-whyte, A Kalman filter model for GPS navigation of land vehicles, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94), pp.157-163, 1994.
DOI : 10.1109/IROS.1994.407396

V. Drevelle and P. Bonnifait, Localization Confidence Domains via Set Inversion on Short-Term Trajectory, IEEE Transactions on Robotics, vol.29, issue.5, pp.1244-1256, 2013.
DOI : 10.1109/TRO.2013.2262776

URL : https://hal.archives-ouvertes.fr/hal-00877443

C. Fouque and P. Bonnifait, Matching Raw GPS Measurements on a Navigable Map Without Computing a Global Position, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.2, pp.887-898, 2012.
DOI : 10.1109/TITS.2012.2186295

URL : https://hal.archives-ouvertes.fr/hal-00828923

C. Fouque, P. Bonnifait, and D. Bétaille, Enhancement of global vehicle localization using navigable road maps and dead-reckoning, 2008 IEEE/ION Position, Location and Navigation Symposium, pp.1286-1291, 2008.
DOI : 10.1109/PLANS.2008.4570082

URL : https://hal.archives-ouvertes.fr/hal-00445289

P. Furgale, Toward automated driving in cities using close-tomarket sensors: An overview of the v-charge project, Intelligent Vehicles Symposium (IV), 2013 IEEE, pp.809-816, 2013.

P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, GNSS/GPS. Artech House, 2013.

U. Iqbal, J. Georgy, W. F. Abdelfatah, M. J. Korenberg, and A. Noureldin, Pseudoranges Error Correction in Partial GPS Outages for a Nonlinear Tightly Coupled Integrated System, IEEE Transactions on Intelligent Transportation Systems, vol.14, issue.3, pp.1510-1525, 2013.
DOI : 10.1109/TITS.2013.2264474

K. Jo, K. Chu, and M. Sunwoo, GPS-bias correction for precise localization of autonomous vehicles, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.636-641, 2013.
DOI : 10.1109/IVS.2013.6629538

L. Marchand, . Ph, J. Bonnifait, D. Ibanez-guzman, F. Bétaille et al., Characterization of gps multipath for passenger vehicles across urban environments. ATTI dell'Istituto Italiano di Navigazione, pp.77-88, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00445114

B. H. Lee, J. H. Song, J. H. Im, S. H. Im, M. B. Heo et al., GPS/DR Error Estimation for Autonomous Vehicle Localization, Sensors, vol.2, issue.8, p.1520779, 2015.
DOI : 10.3390/s150305722

URL : http://doi.org/10.3390/s150820779

P. S. Maybeck, Stochastic models, estimation, and control, Mathematics in Science and Engineering, vol.141, 1979.

P. Merriaux, Y. Dupuis, P. Vasseur, and X. Savatier, Fast and robust vehicle positioning on graph-based representation of drivable maps, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.2787-2793, 2015.
DOI : 10.1109/ICRA.2015.7139578

I. Miller, M. Campbell, and D. Huttenlocher, Map-aided localization in sparse global positioning system environments using vision and particle filtering, Journal of Field Robotics, vol.23, issue.8, pp.619-643, 2011.
DOI : 10.1002/rob.20395

M. Sahmoudi, N. Kbayer, and E. Chaumette, Robust gnss navigation in urban environments by bounding nlos bias of gnss pseudoranges using a 3d city model, Proceedings of the 28th International Technical Meeting of The Satellite Division of the Institute of Navigation, pp.2410-2420, 2015.

M. Phatak and S. Kohli, Position fix from three GPS satellites and altitude: a direct method, IEEE Transactions on Aerospace and Electronic Systems, vol.35, issue.1, pp.350-354, 1999.
DOI : 10.1109/7.745705

A. Rabaoui, N. Viandier, E. Duflos, J. Marais, and P. Vanheeghe, Dirichlet Process Mixtures for Density Estimation in Dynamic Nonlinear Modeling: Application to GPS Positioning in Urban Canyons, IEEE Transactions on Signal Processing, vol.60, issue.4, pp.1638-1655, 2012.
DOI : 10.1109/TSP.2011.2180901

URL : https://hal.archives-ouvertes.fr/hal-00712718

J. Rife, Collaborative Vision-Integrated Pseudorange Error Removal: Team-Estimated Differential GNSS Corrections with no Stationary Reference Receiver, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.1, pp.15-24, 2012.
DOI : 10.1109/TITS.2011.2178832

C. Rose, J. Britt, J. Allen, and D. Bevly, An Integrated Vehicle Navigation System Utilizing Lane-Detection and Lateral Position Estimation Systems in Difficult Environments for GPS, Intelligent Vehicles Symposium (IV), pp.2615-2629, 2013.
DOI : 10.1109/TITS.2014.2321108

J. Snider, Automatic Steering Methods for Autonomous Automobile Path Tracking, 2009.

Z. Tao and P. Bonnifait, Tightly coupling GPS with lane markings for autonomous vehicle navigation, 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp.439-444, 2014.
DOI : 10.1109/ITSC.2014.6957729

URL : https://hal.archives-ouvertes.fr/hal-01078758

Z. Tao and P. Bonnifait, Road invariant Extended Kalman Filter for an enhanced estimation of GPS errors using lane markings, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3119-3124, 2015.
DOI : 10.1109/IROS.2015.7353808

URL : https://hal.archives-ouvertes.fr/hal-01213673

Z. Tao, P. Bonnifait, V. Frémont, and J. Ibañez-guzman, Mapping and localization using GPS, lane markings and proprioceptive sensors, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.406-412, 2013.
DOI : 10.1109/IROS.2013.6696383

URL : https://hal.archives-ouvertes.fr/hal-00880566

G. Taylor, G. Blewitt, D. Steup, S. Corbett, and A. Car, Road Reduction Filtering for GPS-GIS Navigation, Transactions in GIS, vol.5, issue.3, pp.193-207, 2001.
DOI : 10.1111/1467-9671.00077

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.2364

A. Vu, A. Ramanandan, A. Chen, J. A. Farrell, and M. Barth, Real-Time Computer Vision/DGPS-Aided Inertial Navigation System for Lane-Level Vehicle Navigation, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.2, pp.899-913, 2012.
DOI : 10.1109/TITS.2012.2187641

A. Wieser, M. Gaggl, and H. Hartinger, Improved positioning accuracy with high-sensitivity gnss receivers and snr aided integrity monitoring of pseudo-range observations, International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS), pp.1545-1554, 2005.

S. Zair, S. Le-hegarat-mascle, and E. Seignez, A-Contrario Modeling for Robust Localization Using Raw GNSS Data, IEEE Transactions on Intelligent Transportation Systems, vol.17, issue.5, pp.1354-1367, 2016.
DOI : 10.1109/TITS.2015.2502279

J. Ziegler, Making Bertha Drive—An Autonomous Journey on a Historic Route, IEEE Intelligent Transportation Systems Magazine, vol.6, issue.2, pp.8-20, 2014.
DOI : 10.1109/MITS.2014.2306552