In this paper, a localization error recovery method based on bias estimation is provided for outdoor localization of mobile robot using different-type sensors. In the previous data integration method with DGPS, it is difficult to localize mobile robot due to multi-path phenomena of DGPS. In this paper, fault data due to multi-path phenomena can be recovered by bias estimation. The proposed data integration method uses a Kalman filter based estimator taking into account a bias estimator and a free-bias estimator. A performance evaluation is shown through an outdoor experiment using mobile robot.

• 김용식 | Kim Yong-Shik
• 이재훈 | Lee JaeHoon
• 김봉근 | Kim BongKeun
• 오바코타로 | Ohba Kohtaro
• 오야아키히사 | Ohya Akihisa