In the Intelligent Transportation Systems (ITS) field, the number of applications that demand a high integrity positioning system is growing. In order to improve the integrity of localization systems, GPS is usually hybridized with additional proprioceptive sensors. In this paper, a new hybridization algorithm based on GPS plus odometry and a gyro is proposed as an improvement of the most common extended Kalman filter (EKF) approach. In concrete, these investigations focus on the performance of

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... the system under bad initial conditions. Results show the suitability of the proposed system for navigation under bad initial values of heading, and its benefits as compared to two state-of-the-art methods of the literature: an EKF, and a particle filter based solution.