This paper proposes a localization method using Global Positioning System(GPS) with multi-path estimation which uses 3D environment maps. Multi-path is one of the problems upon using the GPS for localization. GPS satellite visibility is one of the solutions to detect multi-path error. The challenge of the paper is to use pre-measured 3D environment map to check the satellite visibility. In order to compute the satellite visibility using 3D maps, the GPS receiver position is necessary, which is contradicted requirements to localization. The proposed method solves the problem by using particle filter. In this paper, This paper describes the GPS measurement model with satellite visibility using 3D maps, speeding up the satellite visibility check using GPS shadow maps, and experimental results in outdoor environment with multipath data.