As various automotive applications are proposed, e.g. unmanned vehicles, the accuracy of positioning system gains significance. The currant GPS cannot provide information on the progressive direction and the position of the automobile accurately in the heavily congested metropolitan area or underground environment. It is because the system based on GNSS(Global Navigation Satellite System) is highly affected by the surrounding environment. The goal of this research is to invent a new dead reckoning algorithm which can work with GNSS under very stressful surrounding environment.