Report on developed software modules that fuse EGNOS-GNSS absolute position estimates, IMU relative positions estimates, and vision-based (map matching) absolute position estimates. v2

Report on developed software modules that fuse EGNOS-GNSS absolute position estimates, IMU relative positions estimates, and vision-based (map matching) absolute position estimates. This includes the communication channels and protocols for exchanging real time cartography information and for exchanging EGNOS data. It also includes information on the used hardware, i.e. EGNSS unit, IMU unit, and communication unit. Three versions will be delivered in M12, M24 and M30. M24 version will be internal for the consortium