This article presents two different models for coupling GPS-EGNOS pseudo-ranges and Doppler measurements applicable in the context of a terrestrial vehicle, precisely a mobile robot used for unmanned transportation of persons in city centres, industrial or touristic resorts, multi-modal platforms… The first approach is based on the most usual 3D predictive model used in navigation, assuming constant acceleration of the vehicle. The alternative approach assumes that the robot moves in its local tangent plane, which leads to the usual non-holonomic 2D predictive model. These algorithms were proposed and developed during the CTS-SAT (Cybernetic Transport System - SATellite) project that aims at developing an innovative automated transport system based on satellite navigation coupled with additional sensors and to demonstrate the capability of GNSS-based guidance for such systems without need for an heavy ground infrastructure. The CTS-SAT project was conducted by Robosoft in charge of the automatic vehicle production, M3Systems responsible of the radio-navigation algorithms and equipment, the « Laboratoire Central des Ponts et Chaussées » LCPC for their experience in inertial sensors and data fusion, Skylab Industries as a technical service provider, and the French attraction park « la Cité de l’Espace » in Toulouse as the test and validation site for the CTS-SAT concept.