High fidelity horizontal position error estimation for vehicular gps/dr navigation

A non-transitory computer-readable medium having computer-executable instructions stored thereon for determining an Estimated Horizontal Position Error (EHPE) with respect to a navigation system onboard a telematics-equipped vehicle by utilizing a Global Navigation Satellite System (GNSS) navigation system in combination with a dead reckoning (DR) navigation system, the computer-executable instructions, when executed by a processor, causing the following steps to be performed:

• receiving GNSS positioning information from the GNSS navigation system;
• receiving DR positioning information from the DR navigation system;
• applying a Kalman filter to the GNSS positioning information and the DR positioning information;
• calculating the EHPE corresponding to the navigation system onboard the telematics-equipped vehicle based on the GNSS positioning information, the DR positioning information, and the Kalman filter, wherein calculating the EHPE comprises:
• calculating a first root mean square (RMS) value associated with the GNSS positioning information in a first direction and a second RMS value associated with the GNSS positioning information in a second direction.