2A1-M02 3次元地図を用いた回折波を考慮したGPS衛星の可視性判別(移動ロボットの自己位置推定と地図構築)

Abstract

This paper proposes accurate outlier detection method for GPS using 3D environment maps. Main topic of the paper is analysis of diffraction wave of GPS radio waves. GPS is major localization method for outdoor environments. In urban environments, localization results by GPS have large error caused by diffraction and reflection of radio waves. This paper describes the analysis of distance error of radio wave by diffraction, and outlier detection method for GPS with diffraction wave effects.