抄録
This paper describes a method to improve the accuracy of localization of the mobile robot using GPS. This method improves the accuracy of localization by removing multipath of the GPS with 3D-Map. At first, this approach demand the area that cannot receive the radio signal from the GPS satellite with 3D-Map about each satellite. And if there is a robot in the area, an invisible satellite is rejected to improve positioning accuracy of the GPS. At this time, the assumption of the robot position is generated by using a particle filter. This method is useful for localization and navigation of the mobile robot between buildings.
