According to the problem of position discontinuity using GPS in city cars, a scheme that GPS is combined with DR which is composed by piezoelectric gyro and milemeter is put forward.
Additionally, it includes an integrated standby instrument LCD displaying speed, altitude, and gyro horizon backup, with power availability indicated on the First Limit Indicator.
What we do instead is we fuse the data from the accelerometer and the gyro with that tracking information and we're able to reduce the compute load dramatically.