In the case of a position determination method, during traversal of a curve (K) the centroid (Cd) of the latter is determined from measured values of a direction sensor. The centroid (Cm) of the curve (K) of a digitized road (511) is determined from the alignment of road segments (S) of the digitized...http://www.google.com.au/patents/US6766247?utm_source=gb-gplus-sharePatent US6766247 - Position determination method and navigation device
