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

Eijiro Takeuchi; Masashi Yamazaki; Kazunori Ohno; Satoshi Tadokoro

doi:10.1109/ROBIO.2011.6181350

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 proceeding › Conference 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 language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages	590-595
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2011.6181350
Publication status	Published - 2011 Dec 1
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 2011 Dec 7 → 2011 Dec 11

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country	Thailand
City	Phuket
Period	11/12/7 → 11/12/11

ASJC Scopus subject areas

Computer Vision and Pattern Recognition

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GPS measurement model with satellite visibility using 3D map for particle filter. / Takeuchi, Eijiro; Yamazaki, Masashi; Ohno, Kazunori ; Tadokoro, Satoshi.

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 590-595 6181350 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takeuchi, E, Yamazaki, M, Ohno, K & Tadokoro, S 2011, GPS measurement model with satellite visibility using 3D map for particle filter. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181350, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 590-595, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181350

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title = "GPS measurement model with satellite visibility using 3D map for particle filter",

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.",

author = "Eijiro Takeuchi and Masashi Yamazaki and Kazunori Ohno and Satoshi Tadokoro",

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note = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ; Conference date: 07-12-2011 Through 11-12-2011",

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AU - Yamazaki, Masashi

AU - Ohno, Kazunori

AU - Tadokoro, Satoshi

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AB - 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.

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

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