Abstract: This paper discusses the implementation of the Kalman
Filter along with the Global Positioning System (GPS) for indoor
robot navigation. Two dimensional coordinates is used for the map
building, and refers to the global coordinate which is attached to the
reference landmark for position and direction information the robot
gets. The Discrete Kalman Filter is used to estimate the robot position,
project the estimated current state ahead in time through time update
and adjust the projected estimated state by an actual measurement at
that time via the measurement update. The navigation test has been
performed and has been found to be robust.