Abstract
This paper presents a estimation for localization in outdoor environment. In outdoor environment, EKF(Extended Kalman Filter) generically reduces presumed accuracy for a remarkable change of sensor accuracy. Then, we built the system which maintains presumed accuracy by changing the parameter of EKF from the reliabikity of sensor data dynamically. Our system was tested using autonomous mobile robot "INFANT"(Intelligence Foundations for Advanced Navigation Technology) developed at our laboratory in an outdoor environment surrounded building. The sensors used in this test are GPS(Global Positioning System), a magnetic direction sensor, a rate gyroscope, and a pulse encoder. In this test, it drew the presumed result more reliable than the usual EKF.
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