Bias estimation of DGPS multi-path data for localization of mobile robot

In this paper, a localization method is provided estimating bias error due to multi-path phenomenon of DGPS sensor. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from sensor data. To take full advantage of two sensor data, an integration mechanism is provided and implemented. It is provided bias detection and bias estimation for multi-path phenomenon of DGPS sensor in the surrounding of buildings. A performance evaluation is shown through an outdoor experiment data with Yamabico mobile robot.