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With the development of various driver assistance systems using vehicle position, improvement of positioning accuracy is desired. GPS, widely used as a positioning system, can provide accuracy of a few meters in suburban areas. However, in urban areas, this accuracy can be degraded to ten meters or more because of the reflection and blocking of GPS signals by tall buildings. In order to maintain accurate positioning in such an environment, it is important to develop a method of trajectory estimation which is robust against the surrounding buildings. In this paper, the heading estimation which is the most influential factor in trajectory accuracy is improved by tight coupling of time-series GPS-Doppler and INS. As a result, the accuracy of trajectory estimation is improved in urban areas.