GPS measurement model with satellite visibility using 3D map for particle filter

Eijiro Takeuchi, Masashi Yamazaki, Kazunori Ohno, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages590-595
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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