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This paper presents a novel method to utilize 2D LIDAR for INS (Inertial Navigation System) aiding to improve 3D vehicle position estimation accuracy, especially when GNSS signals are shadowed. In the proposed framework, 2D LIDAR aiding is carried out without imposing any assumptions on the vehicle motion (e.g. we allow full six degree-of freedom motion). To achieve this, a closed-form formula is derived to predict the line measurement in the LIDAR's frame. This makes the feature association,fatcat:vuzo5lkzpnf7nf7axw2cj2oj2a