Abstract
In this research, we propose a mobile robot localization based on GPS error evaluation in urban environments. Localization in urban environment has still a challenging problems such as multipath and signal lost. Our proposed method uses a localization with GPS which is evaluated the reliability of GPS observations, dead reckoning and integration method using Divided Difference Filter (DDF). Proposed evaluation algorithm uses satellites elevation and azimuth that are leveraged in global positioning system in order to calculate covariance matrix. Especially, our evaluation focus on calculated real-time deviation from covariance matrix. The covariance matrix is associated with DDF. Hence, the proposed system makes mobile robot localization less likely to be affected by accuracy of GPS observations. The effectiveness of the proposed method is proved through experiments in urban environments.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
