Fig. 13From: Development of a tour guide and co-experience robot system using the quasi-zenith satellite system and the 5th-generation mobile communication system at a Theme ParkMeasured trajectories using the EKF. Green lines indicate the trajectories obtained using the robotic total station, and purple lines indicate the trajectories obtained using the GNSS and wheel odometry. The left figure is result when using RTK-GPS and right figure is result when using QZSSBack to article page