抄録
In this paper, we propose a method for localization accuracy improvement by reflecting evaluation of reliability of information from GPS in outdoor environment. Currently,GPS is widely used to obtain the positioning information in urban environment. However,if there are obstacles such as trees and tall buildings around the robot, signal lost and multipath is occur. Therefore, all the obtained position information is not necessarily correct. Consequently, processing each threshold with respect to the Satellites number ,positioning techniques and Carrier Noise Ratio. Additionally, to evaluate the likelihood of GPS observations by caluculating the normalized innovation square by using the motion model,we will get only the more reliable GPS observations. We show robust localization even if large error occurs in GPS observation by reflecting result of the evaluation to the localization
