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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 10, NO. 1, MARCH 2009

GPS Multipath Mitigation for Urban Area Using

Omnidirectional Infrared Camera
Jun-ichi Meguro, Taishi Murata, Jun-ichi Takiguchi, Yoshiharu Amano, and Takumi Hashizume

AbstractThis paper describes a precision positioning technique that can be applied to vehicles in urban areas. The proposed
technique mitigates Global Positioning System (GPS) multipath
by means of an omnidirectional infrared (IR) camera that can
eliminate the need for invisible satellites [a satellite detected by
the receiver but without line of sight (LOS)] by using IR images.
Some simple GPS multipath mitigation techniques, such as the
installation of antennas away from buildings and using choke ring
antennas, are well known. Further, various correlator techniques
can also be employed. However, when a direct signal cannot be
received by the antenna, these techniques do not provide satisfactory results because they presume that the antenna chiefly
receives direct signals. On the other hand, the proposed technique
can mitigate GPS multipath, even if a direct signal cannot be
received because it can recognize the surrounding environment by
means of an omnidirectional IR camera. With the IR camera, the
sky appears distinctively dark; this facilitates the detection of the
borderline between the sky and the surrounding buildings, which
are captured in white, due to the difference in the atmospheric
transmittance rate between visible light and IR rays. Positioning
is performed only with visible satellites having fewer multipath
errors and without using invisible satellites. With the proposed system, static and kinematic evaluations in which invisible satellites
are discriminated through observation using an omnidirectional
IR camera are conducted. Hence, signals are received even if
satellites are hidden behind buildings; furthermore, the exclusion
of satellites having large errors from the positioning computation
becomes possible. The evaluation results confirm the effectiveness
of the proposed technique and the feasibility of highly accurate
positioning.
Index TermsGlobal Positioning System (GPS), infrared (IR)
image sensors, multipath mitigation, self-positioning, urban areas.

I. I NTRODUCTION

URRENTLY, Global Positioning System (GPS) applications are rapidly gaining popularity. With the planned
GPS modernization program of the U.S., European Satellite
Navigation System (GALILEO) of Europe, the Global Naviga-

Manuscript received August 10, 2007; revised January 14, 2008. First
published February 2, 2009; current version published February 27, 2009. This
work was supported in part by the Research Fellowships from the Japan Society
for the Promotion of Science for Young Scientists 18-467. The Associate Editor
for this paper was N. Zheng.
J. Meguro and T. Murata are with the Graduate School of Science and
Engineering, Waseda University, Tokyo 162-0041, Japan (e-mail: meguro@
power.mech.waseda.ac.jp; murata@power.mech.waseda.ac.jp).
J. Takiguchi is with Kamakura Works, Mitsubishi Electric Corporation,
Kamakura 247-8520, Japan, and also with Waseda University, Tokyo 162-0041,
Japan (e-mail: Takiguchi.Junichi@dp.MitsubishiElectric.co.jp).
Y. Amano and T. Hashizume are with the Advanced Research Institute for
Science and Engineering, Waseda University, Tokyo 169-8555, Japan (e-mail:
hasizume@waseda.jp; yoshiha@waseda.jp).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TITS.2008.2011688

tion Satellite System of Russia, and the launch of quasi-zenith

satellites by Japan, the availability of satellite positioning is
anticipated to improve [1], [2]; however, because of the serious
impact of multipath on the positioning accuracy in urban areas,
such improvements in the availability of satellite positioning do
not necessarily facilitate high-precision positioning at the same
time [3][5]. In addition, high-accuracy positioning using GPS
in urban areas is desired in the field of intelligent transportation
systems (ITS) [5][10]. Mobile mapping systems [10] require
continuous accurate self-positioning even near high-rise buildings, which are particularly responsible for generating multipath error. Therefore, it is essential to establish a positioning
technique in the future to sort the available satellites and only
use those with the fewest multipath errors [11][26].
In contrast, simple techniques such as the installation of
antennas away from buildings and using choke ring antennas
are known to contribute toward multipath mitigation; however,
these techniques are either impractical or very limited. Various correlator and receiver autonomous integrity monitoring
(RAIM) [11], [12] techniques can also be used for multipath
mitigation, which are highly practical and popular. The narrowcorrelator technique [13], which was proposed in the early
1990s, can eliminate multipath errors better than the former
methods. In addition, the earlylate slope technique [14] and
the strobe-correlator technique [15], [16] were also developed
in the 1990s. Currently, the use of multipath estimating delaylocked loops (MEDLLs) [17], [18] is widespread, and the
Vision correlator technique [19] is developed. RAIM provides
an alert by checking between the position solutions obtained by
satellite signals.
Meanwhile, multipath mitigation techniques to classify invisible satellite [a satellite detected by the receiver but without
line of sight (LOS)] or visible satellite came to front. A multipath simulation method that uses 3-D geographic information
systems (GIS) [24], which simulate multipath by means of
premeasuring building height information, has been proposed.
An evaluation tool to predict the satellite constellation service
availability along a given terrestrial trajectory by means of a
visible-light fisheye optic system [26] is proposed. At the same
time, the results obtained by using a positioning technique for
multipath mitigation, in which invisible satellites are excluded
from the positioning computation and the satellite visibility
is determined from the sky projection of the satellites and
obstructions such as buildings, prove that it is possible to
improve the positioning accuracy.
This paper, therefore, describes a precision positioning technique that can be applied to vehicles in urban areas, and
proposes a technique to realize multipath mitigation by using
an omnidirectional infrared (IR) camera to exclude invisible

1524-9050/$25.00 2009 IEEE

MEGURO et al.: GPS MULTIPATH MITIGATION FOR URBAN AREA USING OMNIDIRECTIONAL INFRARED CAMERA

23

satellites. This technique employs an omnidirectional IR camera and a satellite orbit simulator to automatically determine the
geometrical relation between the satellites and the obstructions,
as seen from the vehicle; this enables operation with satellites
that only have small multipath errors by excluding invisible
satellites from the positioning computation.
II. O UTLINE OF THE P ROPOSED T ECHNIQUE
To exclude the radio waves emitted from invisible satellites,
the satellite positions, the movable bodys position and attitude,
and the physical relation with the obstructions blocking the
radio waves from the satellites must be identified at all times
to determine the visibility of the satellites. The technique
proposed herein involves excluding the invisible satellites by
observing the satellite positions with a satellite orbit simulator,
the movable bodys heading angle with an angular displacement
sensor like a gyro or inertial measurement system (IMU), and
the obstruction positions with an omnidirectional IR camera.
The specific algorithm employed in this technique is shown in
Fig. 1. First, to obtain the elevation and the azimuth angles
of the satellite as seen from the movable body, the position
of the satellite is estimated from the ephemeris data. Then,
the satellite position is converted into the elevation and the
azimuth angles of the satellite as seen from the movable body
by using the approximate position of the movable body and
the angular displacement sensor. Here, even if the approximate
position of the movable body is significantly shifted from the
actual position, the shift is small in comparison to the distance
between the satellite and the movable body; thus, the elevation
and the azimuth angles are hardly affected and are sufficient
for accurate computation, even for GPS point positioning.
The system then proceeds with a simple segmentation of the
omnidirectional IR camera image to enable an understanding
of the obstruction positions as seen from the movable body.
The estimation of time needed to process an image is a
few milliseconds. After the obstructions are abstracted away,
the omnidirectional IR camera image is set on the plane of
the elevation and azimuth angles. Then, on the image with the
obstructions abstracted away, the satellite positions are plotted
to determine the visibility of each satellite from the overlapping
of the satellites and the obstructions. Finally, the positioning is
performed only using visible satellites having small multipath
errors and without using the invisible satellites.
III. A CQUISITION OF F AR -IR O MNIDIRECTIONAL I MAGES
A. Developed Omnidirectional Far-IR Camera
The omnidirectional IR camera developed in this paper is
shown in Fig. 2. This camera can generate IR images with an
elevation of 20 70 for the entire surrounding area over 360
[28], [29]; it is capable of taking clear images of buildings, even
at night. A two-mirror optic system is adopted because it is
easier to design than wide-angle lens like fisheye in the case
of far IR rays. Fig. 3 shows images simultaneously taken by a
visible-light fisheye camera and an omnidirectional IR camera
at the same place during the day as well as at night. With the
IR camera, the sky is distinctively dark; this makes it easy to

Fig. 1. Multipath mitigation algorithm using omnidirectional IR camera.

detect the borderline between the sky and the buildings, which
are captured in white, due to the difference in the atmospheric
transmittance rate between visible light and IR rays [30]. Furthermore, halation of the charge-coupled device (CCD) image
sensor caused by sunlight and street lights is observed in the red
circle in the fisheye camera image in Fig. 3, whereas this is not
observed in the omnidirectional IR camera images. Therefore,
using an omnidirectional IR camera enables a robust determination of the borderline between an object and the sky in the presence of outdoor lights and other disturbances; thus, it is possible
to identify the borderline in a reliable manner, even in the case
of image processing using simple binarization (see Table I).
B. Calibration of the Omnidirectional IR Camera
It is essential to determine the accurate intracamera parameters when surveying with the camera; furthermore, it is necessary to employ an accurate method of projection. However,

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 10, NO. 1, MARCH 2009

Fig. 2. Omnidirectional IR camera developed in this study. (a) Omnidirectional IR camera. (b) Description of the optic system.

Fig. 3. Comparison between images from the color fisheye camera and the omnidirectional IR camera. (a) Daytime. (b) Nighttime.
TABLE I
IR CAMERA CONFIGURATION

Fig. 6.

Static evaluation test environment B (width of street: 12 m).

TABLE II
QUALITY NUMBER INDICATING POSITIONING ACCURACY

Fig. 4. Calibration box for the omnidirectional IR camera.

projection method in which a jig with thermal point sources

arranged inside it emits IR rays, as shown in Fig. 4. In this manner, it is possible to determine a method of projection by using
an omnidirectional IR camera to survey the arranged multiple
thermal point sources whose positions are known beforehand.
IV. C OMPARISON OF S TATIC P OSITIONING A CCURACY
Fig. 5. Static evaluation test environment A (width of street: 8 m).

A. Outline of Static Evaluation

when using an IR camera, it is necessary that the IR rays be

emitted in certain patterns; hence, it is challenging to determine
a technique that captures images of cyclical patterns, which are
used in camera calibration. Therefore, this paper proposes a

To confirm the effectiveness of the proposed technique, a

static positioning test was conducted. The tests were performed
on (a) November 21, 2005, from 121 237 to 127 080 GPS
seconds, and (b) August 22, 2006, from 195 341 to

MEGURO et al.: GPS MULTIPATH MITIGATION FOR URBAN AREA USING OMNIDIRECTIONAL INFRARED CAMERA

Fig. 7.

Two-dimensional positioning accuracy comparison. (a) 121 237127 080. (b) 195 341210 371.

Fig. 8.

Number of satellites during static evaluation. (a) 121 237127 080. (b) 195 341210 371.

210 371 GPS seconds, at a predetermined position in the premises of Kamakura Works, Mitsubishi Electric Corporation
(see Figs. 5 and 6). The data were obtained at a rate of 1 Hz. The
surroundings of the observation point comprised scattered tall
buildings and connecting corridors, which makes it a susceptible environment for satellite masking. The receiver used was a
ZXtreme from Ashtech (currently Thales Navigation) with the
elevation angle mask set at 10 . The reference station was at an
electronic reference point of the Geographical Survey Institute
of Japan (Fujisawa station; baseline length of 5 km). The
positioning computation was performed with the postprocessing software GrafNav 7.5, and the results were compared on
the basis of whether the computation was processed with or
without invisible satellite data. The quality number of Waypoint
GrafNav, in brief, is a factor generated by GrafNav for each
output solution, which ranges from 1 to 6, to indicate the
reliability of the solution (see Table II).
Hereinafter, the term fixed solution implies an output
solution with a quality number of 1, float solution implies
an output solution with a quality number of between 2 and 4,
and DGPS solution implies an output solution with a quality
number of 5 or 6. GrafNav also generates a unique indicator (i.e., DD_DOP) to indicate the dispersion of the satellite
geometry. When this value is extremely large, GrafNav does
not output a result on that particular epoch. In other words, if
the output from GrafNav is significantly deviated from the true
value, the deviation is most likely caused by the effects of radio
wave disturbances including multipath rather than the effect of
satellite geometry.

25

B. Result of Static Evaluation

Fig. 7 shows the comparison result of the positioning accuracy with the exclusion of the invisible satellites, which were
determined by using an omnidirectional IR camera. Fig. 8
shows the comparison result of the number of satellites employed by the receiver for positioning; the figures also shows
that there are a lot of epochs with signals received from invisible
satellites during the static test, i.e., the receiver frequently
received signals from invisible satellites. Fig. 9 shows the result
of the comparison between the position dilution of precision
(DOP) before and after the exclusion of invisible satellites.
From this figure, we understand that the number of satellites
used for positioning is decreased by the exclusion of the
invisible satellites, and consequently, the DOP is increased.
Meanwhile, some epochs downgrade its quality because of the
decrease in received number of satellites. That will be improved
by a global navigation satellite systems upgrade like GALILEO
in the near future.
Table III shows the comparison result of the ratio of fixed
solutions, float solutions, and differential global positioning
system (DGPS) solutions at static evaluation (b). From this
result, we find that the number of epochs with outputs that are
fixed solutions is increased by positioning with visible satellites
having fewer multipaths by using the developed omnidirectional IR camera. Table IV shows the result of the comparison
of the 2-D twice the distance root mean square (2DRMS) errors
of the fixed solutions, float solutions, and DGPS solutions
before and after the exclusion of invisible satellites at static
evaluation (b). From Fig. 8 and Table IV, we can confirm that

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 10, NO. 1, MARCH 2009

Fig. 9. DOP comparison. (a) 121 237127 080. (b) 195 341210 371.
TABLE III
NUMBER OF SIGNALS OF DIFFERENT POSITIONING QUALITY AT
STATIC EVALUATION (B)

of the invisible satellites; however, the impact of multipath on

general carriers is minor.
A. Algorithm for Multipath Errors
(k)

Here, an algorithm to calculate the multipath error u of a

satellite k is provided. The code pseudorange for satellite k can
be expressed as
TABLE IV
TWO-DIMENSIONAL POSITIONING ACCURACY COMPARISON AT
STATIC EVALUATION (B)

despite the increase in the DOP due to the exclusion of the

invisible satellites, the positioning accuracy of the solutions,
particularly that of the DGPS solutions, is drastically improved.
Further, Fig. 9 shows the relation between each type of solution
and the GPS time, and Fig. 10 shows the relation between the
GPS time and the 2-D positioning errors.
V. E XCLUSION E FFECT A SSESSMENT BY
P SEUDORANGE E RROR
In this section, the results of the static evaluation (b) described in Section IVfrom 197 000 to 197 800 GPS seconds
(time period A) and from 205 500 to 206 000 GPS seconds
(time period B), both of which are distinctare described.
Note that time period A, as shown in Fig. 9, was the time
period in which the DGPS solutions were improved to fixed
solutions by the exclusion of the invisible satellites. From this
fact, the invisible satellites were presumed to have considerable
multipath errors. On the other hand, in Fig. 9, the fixed solutions
are converted to float solutions or DGPS solutions by the
exclusion of invisible satellites in time period B. This led to
the presumption that despite receiving signals from invisible
satellites, fixed solutions were being computed, and diffraction
waves with small multipath errors were being received from the
invisible satellites in time period B.
To examine the above presumption, the computation of the
multipath errors of invisible satellites in each time period
was attempted. Note that the computation in this section is
performed with code multipath errors since the positioning
accuracy is significantly different before and after the exclusion

(k)
s
(k)
(k)
u = ru + I + T + c(tu t ) + u

(1)

(k)

where u denotes the pseudorange of the user station,

(k)
ru denotes the satellite-to-receiver distance, I denotes the
ionospheric delay, T denotes the tropospheric delay, c denotes
the velocity of light, tu denotes the clock bias of the receiver,
and ts denotes the clock bias of the satellite. In this paper, we
presume that, in comparison with the multipath errors, the noise
errors are small enough to be ignored.
Now, when a differential correction at the reference station
with a short baseline is applied to (1), (2), which is shown
below, is obtained. Since the reference station used in this test
was an electronic reference point in the vicinity (with a baseline
length of approximately 5 km), we assume that
(k)
(k)
(k)
ur = rur + ctur + ur .

(2)

Further, taking the double difference with a differentially

corrected reference satellite l, (2) is expressed as
(kl)
(kl)
(kl)
ur = rur + ur
(k)

(k)

(k)

(k)

(3)
(k)

(k)

where ur denotes r u , rur denotes rr ru , tur

(k)
(k) (k)
(k)
(k)
(k)
denotes tr tu , ur denotes r u , and u denotes
the pseudorange of the user station.
Regarding (3), the static positioning in this test was per(kl)
formed at a known location, and the value rur can accurately
(kl)
be calculated; thus, it is possible to calculate ur . However, the
(kl)
multipath error ur includes not only the multipath errors of
the satellite but also the multipath errors of the reference station
and reference satellite l. Now, the reference station is in an open
location where multipath hardly occurs; therefore, we presume
the error to be minor. In addition, with regard to the reference
station, we can presume the multipath errors to be minor by selecting a satellite with a high elevation angle that is not blocked
by the surrounding buildings. With the above considerations,
(k)
we compute the multipath error u of satellite k as


 (kl)
(kl) 
(4)
(k)
u = ur rur  .

MEGURO et al.: GPS MULTIPATH MITIGATION FOR URBAN AREA USING OMNIDIRECTIONAL INFRARED CAMERA

27

Fig. 10. Quality number comparison. (a) 121 237127 080. (b) 195 341210 371.

Fig. 11. Carrier-to-noise ratio and multipath error. (a) PRN21. (b) PRN3. (c) PRN25.

B. Pseudorange Errors of Invisible Satellites

First, the multipath error of the invisible satellites in time
period A is computed. During this time period, the receiver
receives an intermittent radio wave from an invisible satellite
PRN21. Fig. 11(a) shows the trajectory of PRN21 in time
period A and the diagram of the signal strength and the multipath errors obtained by (4). Further, as a reference, the multi-

path errors of PRN3, which in the same time period were visible
at approximately the same angle of elevation as that of PRN21,
are shown in Fig. 11(b).
From Fig. 11(a) and (b), it is observed that the invisible satellite PRN21 has extremely large multipath errors (approximately
2060 m) compared to the visible satellite PRN3. In other
words, in time period A, excluding satellites with multipath

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 10, NO. 1, MARCH 2009

errors as large as those of PRN21 is believed to have contributed

toward obtaining fixed solutions.
Now, a multipath mitigation technique that uses the correlation of the signal strength and the short-delay multipath
errors is introduced [20]. In Fig. 11(b), PRN3 with short-delay
multipath errors shows a correlation between the decrease in
the signal strength and the increase in the multipath errors;
however, in Fig. 11(a), PRN21 with long-delay multipath errors
does not exhibit any notable correlation between the signal
strength and the multipath errors, thereby making the detection
of malfunctions from the signal strength difficult. Therefore,
the positioning computation was possible with the exclusion of
PRN21 by using the proposed technique.
Second, the multipath error of invisible satellites in time
period B is computed. During time period B, the receiver
receives signals from invisible satellites PRN23 and PRN25;
however, here, we focus on PRN25 for examination. Fig. 11(c)
shows the trajectory of PRN25 and a diagram of the signal
strength and multipath errors. In this figure, it can be observed
that the multipath errors of PRN25, which should have been
an invisible satellite, are small; thus, this satellite should not
be excluded. It is believed that the signals from PRN25 were
not ground-reflected waves but diffraction waves, and thus,
the multipath errors of PRN25, which should have been an
invisible satellite, became small. The following three reasons
explain why we can presume that the signals from PRN25 were
diffraction waves.
1) In Fig. 11(c), PRN25 is near the edge of a building
and is in a condition that makes it particularly prone to
diffraction waves.
2) Diffraction waves with a signal strength greater than a
certain value do not have large errors.
3) In Fig. 11(c), the signal strength of PRN25 is rapidly
attenuated within a short time; such attenuation is characteristic of a diffraction wave.

Fig. 12.

Dynamic evaluation test environment.

Fig. 13.

Vehicle installed with omnidirectional IR camera and GPS.

Fig. 14.

Transition of the number of satellite.

Based on the preceding examinations, it can be stated that the

signals from invisible satellites do not necessarily include large
errors; however, as can be confirmed from Tables II and III, it is
possible to remarkably and statistically improve the positioning
accuracy by using the proposed technique. Thus, this technique
is effective.
VI. C OMPARISON OF K INEMATIC
P OSITIONING A CCURACY
A. Outline of Kinematic Evaluation
To confirm the effectiveness of the technique, a kinematic
positioning test was performed on the premises of Kamakura
Works, Mitsubishi Electric Corporation. The travel route of
the movable body is shown in Fig. 12, and the observation
vehicle used in the test is shown in Fig. 13. The evaluation
was performed with an omnidirectional IR camera installed
together with an angular displacement sensor on the roof of the
observation vehicle. The test was conducted on September 15,
2006, by using a BD950 receiver manufactured by Trimble; the
data were obtained at a rate of 10 Hz. The elevation angle mask

was set at 10 . The observation vehicle traveled for 1 km at

speeds of less than 20 km/h.
B. Result of Kinematic Evaluation
First, GrafNav is used to analyze the observed GPS data
without excluding the invisible satellites. The number of satellites used for positioning is shown in Fig. 14, and the horizontal
DOP (HDOP) values are shown in Fig. 15. From Fig. 14, we

MEGURO et al.: GPS MULTIPATH MITIGATION FOR URBAN AREA USING OMNIDIRECTIONAL INFRARED CAMERA

29

Fig. 15. Transition of HDOP.

Fig. 17.

Vehicle trajectory result with proposed multipath mitigation process.

with the exclusion of PRN7, with which the multipath errors are
presumed to be large. From these results, it can be stated that
the proposed technique is effective in kinematic positioning as
well as static positioning.
Fig. 16. Vehicle trajectory result without proposal.

know that there are many instances where the number of satellites is below 4 because of the tall buildings and the connecting
corridors scattered around the observation point. Fig. 16 shows
the 2-D projection of the moving bodys position output by
GrafNav. When Fig. 16 is compared with Fig. 12, we can
confirm that the moving bodys position is estimated with a
relatively high accuracy, except in the region marked C (time
range from 461 530.4 to 461 544.7 GPS seconds), where the
position is obviously astray of the actual route. Meanwhile,
the HDOP in region C lies in the range of 2.79 to 6.62,
which is not large; the cause of this is surmised to be the
fact that the positioning is performed using satellites with large
multipath errors. Further, by plotting the satellite geometry on
the omnidirectional IR camera image shown in Fig. 15, we find
that, in region C, the signals from PRN3, PRN7, PRN11,
PRN16, and PRN19 were received; however, PRN7 was an
invisible satellite. In fact, there were four visible satellites and
one invisible satellite. Therefore, it may be presumed that PRN7
had large multipath errors in region C. Given these factors, we
postprocessed region C once again on GrafNav after automatically excluding the invisible satellites by using the proposed
technique, and the results are shown in Fig. 17. Here, in the
region where the position was greatly misaligned, we can see
a significant improvement through the positioning computation

VII. C ONCLUSION
Against the background of the increasing number of satellites
in the future, it is essential to establish a technology that can
select satellites with small multipath errors to realize highly
accurate positioning at all times. Thus, in this paper, we have
proposed a technique with which the obstruction of satellite
signals can be determined using an omnidirectional IR camera,
allowing improvement of the accuracy of mobile positioning in
urban areas by excluding the invisible satellites.
With the proposed system, static and kinematic evaluations
in which the invisible satellites were discriminated through observations using an omnidirectional IR camera were conducted.
Hence, signals were received even while the satellites were
hidden behind buildings, and the exclusion of satellites having
large errors in the positioning computation became possible.
The test results confirmed the effectiveness of the proposed
technique and the feasibility of highly accurate positioning.
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Jun-ichi Meguro received the B.Eng., M.Eng., and

D.Eng. degrees from Waseda University, Tokyo,
Japan, in 2003, 2005, and 2008, respectively.
Since 2006, he has been a Japan Society for the
Promotion of Science (JSPS) Research Fellow with
the Advanced Research Institute for Science and Engineering, Waseda University. He has been working
on problems related to unmanned vehicles and their
navigation and control systems. His research interests are mainly in the area of measurement control
systems applied to intelligent vehicles.

Taishi Murata received the B.Eng. and M.Eng. degrees in 2006 and 2008, respectively from Waseda
University, Tokyo, Japan, where he is currently a
graduate student.
His interests are in Global Positioning System
technology, mobile mapping systems, and unique
positioning systems.

Jun-ichi Takiguchi received the B.Eng., M.Eng.,

and D.Eng. degrees from Waseda University, Tokyo,
Japan, in 1984, 1986, and 2004, respectively, and
the M.Se. degree from the University of Edinburgh,
Edinburgh, U.K., in 1998.
Since 1987, he has been with Kamakura Works,
Mitsubishi Electric Corporation, Kamakura, Japan,
where he works in the field of guidance control.
Since 2006, he has also been a Visiting Associate
Professor with Waseda University.

Yoshiharu Amano received the B.Eng., M.Eng., and

Dr. Eng. degrees from Waseda University, Tokyo,
Japan, in 1991, 1994, and 1998, respectively, all in
control engineering.
He was a Research Associate, Visiting Lecturer,
and Assistant Professor and has been a Professor
with Waseda University since 2008. He is interested
in the analysis and optimization of power and energy
systems.

Takumi Hashizume received the B.Eng., M.Eng.,

and D.Eng. degrees from Waseda University, Tokyo,
Japan, in 1974, 1976, and 1980, respectively.
He was a Research Associate, Lecturer, and Assistant Professor and has been a Professor with Waseda
University since 1987. He is interested in power and
energy systems.