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Interval Global Positioning with road Surface (iGPS) is a new method to obtain a robust and continuous positioning in urban areas by tightly-coupling precise 3-D drivable area maps with GPS pseudorange measurements. Map and GPS measurements are represented by geometric constraints, thus turning the localization problem into a constraint satisfaction problem whose solution is the confidence domain of position. Interval analysis is employed to solve the problem by using contractions anddoi:10.1109/mits.2012.2203222 fatcat:rpwtucqfwfconcoqynsusdxaje