This paper presents a novel method for non-GPS based localization by integrating LiDAR and IMU sensors. The main concept of this approach is to utilize the Iterative Closest Point(ICP) algorithm for registration between the pre-built point cloud submap and the LiDAR scan data when the vehicle enters a GPS signal limited area. Experiments validating the effectiveness of this method were conducted both in the MORAI simulator and in real-world scenarios.