2A1-J08 都市環境におけるGPS誤差評価に基づくロバスト自己位置推定(移動ロボットの自己位置推定と地図構築(1))

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.