Abstract Accurate positioning is an essential requirement of autonomous vehicular navigation system (AVNS) for safe driving. Although the vehicle position can be obtained in Global Position System (GPS) friendly environments, in GPS denied environments (such as suburb, tunnel, forest or underground scenarios) the positioning accuracy of AVNS is easily reduced by the trajectory error of the vehicle. In order to solve this problem, the plane, sphere, cylinder and cone are often selected as the ground control targets to eliminate the trajectory error for AVNS. However, these targets usually suff...