1P1-I01 Localization for Vehicle Based on GPS Satellites Visibility by Aerial survey Maps : Development of Measurement Vehicle(Localization and Mapping (2))

Abstract

This paper describes a localization method for ground vehicle in urban environments using GPS. To reject GPS multipath error, the method discerns GPS satellites visibility and removes signals from invisible GPS satellites. In order to determine invisible satellite, the method uses Aerial survey Maps. GPS antenna position on the 3D-Maps is estimated by employing a particle filter. To Applying this method for ground vehicle, we developed measurement vehicle.