1P1-I01 航空測量地図を用いたGPS衛星の可視性に基づく車輌の位置推定 : 計測車輌の開発(移動ロボットの自己位置推定と地図構築(2))

抄録

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.