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Intelligent transportations system (ITSs) have emerged to increase safety and convenience of people in vehicles. In an ITS, communication devices in the vehicle or along the streets send the information gathered from the vehicle to information management centers as well as sending processed information to the vehicle. Furthermore, it is necessary to locate the exact location of the vehicle on a digital map in order to navigate the vehicle precisely in control and navigation systems. One of thedoi:10.3906/elk-1712-397 fatcat:ry23woj2w5hczctughcjpsv46q