抄録
This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. The proposed technique mitigates GPS and GLONASS multipath error by means of an omni-directional infrared (IR) camera which can eliminate the need for invisible satellites by using IR images. The sky appears distinctively dark in IR images; this facilitates the detection of the borderline between the sky and the surrounding buildings. Positioning evaluation was carried out only with visible satellites which have less multipath errors and without using invisible satellites. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.
