GPS Based Particle Filter Localization Method with Multipath Model using 3D-Map

Abstract

This paper describes method to improve the accuracy of localization of mobile robot using GPS with particle filter. This method improves the accuracy of localization by removing multipath of GPS measurement data with 3D-Map. This approach analyzes area that cannot receive direct wave from GPS satellite with 3D-Map about each satellite. The particles in that area are assumed to be receiving GPS data including the multipath error. And particle’s like- lihood is calculated considering the multipath error. This method is useful for localization and navigation of mobile robot between buildings.