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.

• 针对城市车辆全球定位系统(GPS)定位存在的不连续性问题,提出了采用压电陀螺和里程仪组成的低成本航迹推算系统与GPS组合方案。