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Safrel, Ispen, Eko Nugroho Julianto, and Nur Qudus Usman. "Accuracy Comparison between GPS Real Time Kinematic (RTK) Method and Total Station to Determine The Coordinate of An Area." Jurnal Teknik Sipil dan Perencanaan 20, no. 2 (November 30, 2018): 123–30. http://dx.doi.org/10.15294/jtsp.v20i2.16284.
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Abstract. Survey with GPS Real Time Kinematic (RTK) has the advantage of being faster and easier than the total station, but on the other hand the accuracy of GPS Real Time Kinematic (RTK) is considered lacking. This study was to determine the comparison of accuracy and efficiency of measuring land parcels using a total station and GPS Real Time Kinematic (RTK) method. The research location is at the Universitas Negeri Semarang campus by selecting areas that are open or unobstructed to satellites and congested areas or which have many obstacles to satellites. The results of this study indicate that for open areas, measurement with GPS Real Time Kinematic (RTK) method reaches a horizontal accuracy of 0.040 m with a time of 16 minutes 16 seconds. While the measurement using a horizontal accuracy of 0.00 Total Station with a length of time of 26 minutes 47 seconds. For areas that are densely measured, GPS Real Time Kinematic (RTK) achieves horizontal accuracy of 10.053 m with a length of time of 39 minutes 27 seconds. While the measurement using a precision horizontal Total Station 0.00 with the length of time 25 minutes 41 seconds.
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Chen, Shichao, Fugang Lu, Ming Liu, Jingbiao Wei, and Mengdao Xing. "Achieving Millimetre Wave Seeker Performance Evaluation Based on the Real-Time Kinematic." Journal of Sensors 2020 (December 23, 2020): 1–13. http://dx.doi.org/10.1155/2020/8815622.
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The millimetre wave (MMW) seeker can realize target detection under all weather conditions, the performance of which directly determines the design of the control algorithms. To guarantee the hitting accuracy and damaging effect of the expensive MMW guidance missile, assessing the performance of the seeker is indispensable before the launching of the missile. Real tactical environment of the seeker cannot be simulated comprehensively by indoor laboratories, and high-precision evaluation method outdoor is desperately needed. Focusing on the problem, a method for outdoor MMW seeker performance evaluation is proposed via the real-time kinematic (RTK) technology in this paper, which has the advantages of high-precision orientation and working ability under all climates. Firstly, the geometry of the seeker performance evaluation system is constructed, guaranteeing the effective working of the RTK. And then, the key parameters associated with the guidance control are calculated on the basis of the global position system (GPS) measurements. Finally, comparisons are made between the parameters obtained based on the RTK and the seeker outputs. Besides, for the performance assessment of the MMW seeker towards moving targets, a time synchronization method for different GPS carrier platforms is presented. The effectiveness of the proposed method is validated by the mooring test-fly experiments. Experimental results demonstrate that the performance of the MMW seeker can be evaluated effectively by using the proposed RTK-based method.
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Niu, Zun, Fugui Guo, Qiangqiang Shuai, Guangchen Li, and Bocheng Zhu. "The Integration of GPS/BDS Real-Time Kinematic Positioning and Visual–Inertial Odometry Based on Smartphones." ISPRS International Journal of Geo-Information 10, no. 10 (October 14, 2021): 699. http://dx.doi.org/10.3390/ijgi10100699.
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The real-time kinematic positioning technique (RTK) and visual–inertial odometry (VIO) are both promising positioning technologies. However, RTK degrades in GNSS-hostile areas, where global navigation satellite system (GNSS) signals are reflected and blocked, while VIO is affected by long-term drift. The integration of RTK and VIO can improve the accuracy and robustness of positioning. In recent years, smartphones equipped with multiple sensors have become commodities and can provide measurements for integrating RTK and VIO. This paper verifies the feasibility of integrating RTK and VIO using smartphones, and we propose an improved algorithm to integrate RTK and VIO with better performance. We began by developing an Android smartphone application for data collection and then wrote a Python program to convert the data to a robot operating system (ROS) bag. Next, we established two ROS nodes to calculate the RTK results and accomplish the integration. Finally, we conducted experiments in urban areas to assess the integration of RTK and VIO based on smartphones. The results demonstrate that the integration improves the accuracy and robustness of positioning and that our improved algorithm reduces altitude deviation. Our work can aid navigation and positioning research, which is the reason why we open source the majority of the codes at our GitHub.
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Nguyen, Ba Dat, Hoang Long Nguyen, Quoc Hung Nguyen, Quoc Tuan Le, Ha Tran, Van Dua Nguyen, and Si Hong Hoang. "Designing an outdoor machinery monitoring device with integrated real-time kinematic positioning." Ministry of Science and Technology, Vietnam 64 (October 12, 2022): 28–32. http://dx.doi.org/10.31276/vjst.64(10db).28-32.
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Accurate positioning ofoutdoor vehicles and machinery is of the top importance inmanagement, tracking, analysis, and control applications. However, most of the current vehicle tracking devices have an error of a few meters to several tens of meters,which is not enough for applications requiring high accuracy. This paper presents the design of an outdoor machinery monitoring device that integrates precise positioning technology of real-time kinematic (RTK). The device uses U-Blox’s Zed F9P module as the core to perform the high accuracy positioning function. Thanks to the integration of RTK positioning technology, the device can monitor the location of machinery outdoors with centimeter-level accuracy.
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No, Sun-Joon, Joong-Hee Han, and Jay Hyoun Kwon. "Accuracy Analysis of Network-RTK(VRS) for Real Time Kinematic Positioning." Korean Journal of Geomatics 30, no. 4 (August 31, 2012): 389–96. http://dx.doi.org/10.7848/ksgpc.2012.30.4.389.
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Lee, Eun Soo, Sung Ho Cho, and Dae Yong Um. "Analysis on the Accuracy of a Network Real Time Kinematic GPS Using the Steel Tape and Triangulation." Applied Mechanics and Materials 446-447 (November 2013): 1601–5. http://dx.doi.org/10.4028/www.scientific.net/amm.446-447.1601.
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The purpose of this Study is to analyze the accuracy of a network RTK GPS, by performing taping, triangulation & Network RTK (Real Time Kinematic) GPS observation on certain measuring points and comparing all locational data based on the calculational & geometric solution method. The deviation in the measured length & coordinate between the steel tape and the Network RTK GPS was within 2cm while the deviation in the measured coordinate between the triangulation and the Network RTK GPS was within 3cm. With the fact that the performance of the taping or the triangulation is less sensitive to its surroundings taken into consideration, it could be concluded that an average locational accuracy of most Network RTK GPS processes in Korea was within 3cm.
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Tomaszewski, Dariusz, Paweł Wielgosz, Jacek Rapiński, Anna Krypiak-Gregorczyk, Rafał Kaźmierczak, Manuel Hernández-Pajares, Heng Yang, and Raul OrúsPérez. "Assessment of Centre National d’Études Spatiales Real-Time Ionosphere Maps in Instantaneous Precise Real-Time Kinematic Positioning over Medium and Long Baselines." Sensors 20, no. 8 (April 17, 2020): 2293. http://dx.doi.org/10.3390/s20082293.
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Precise real-time kinematic (RTK) Global Navigation Satellite System (GNSS) positioning requires fixing integer ambiguities after a short initialization time. Originally, it was assumed that it was only possible at a relatively short distance from a reference station (<10 km), because otherwise the atmospheric effects prevent effective ambiguity fixing. Nowadays, through the use of VRS, MAC, or FKP corrections, the distances to the closest reference station have been increased to around 35 km. However, the baselines resolved in real time are not as far as in the case of static positioning. Further extension of the baseline requires the use of an ionosphere-weighted model with ionospheric delay corrections available in real time. This solution is now possible thanks to the Radio Technical Commission for Maritime (RTCM) stream of SSR corrections from, for example, Centre National d’Études Spatiales (CNES), the first analysis center to provide it in the context of the International GNSS Service. Then, ionospheric delays are treated as pseudo-observations that have a priori values from the CLK RTCM stream. Additionally, satellite orbit and clock errors are properly considered using space-state representation (SSR) real-time radial, along-track, and cross-track corrections. The following paper presents the initial results of such RTK positioning. Measurements were performed in various field conditions reflecting realistic scenarios that could have been experienced by actual RTK users. We have shown that the assumed methodology was suitable for single-epoch RTK positioning with up to 82 km baseline in solar minimum (30 March 2019) mid and high latitude (Olsztyn, Poland) conditions. We also confirmed that it is possible to obtain a rover position at the level of a few centimeters of precision. Finally, the possibility of using other newer experimental IGS RT Global Ionospheric Maps (GIMs), from Chinese Academy of Sciences (CAS) and Universitat Politècnica de Catalunya (UPC) among CNES, is discussed in terms of their recent performance in the ionospheric delay domain.
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Kim, Euiho, and Sae-kyeol Kim. "Global Navigation Satellite System Real-Time Kinematic Positioning Framework for Precise Operation of a Swarm of Moving Vehicles." Sensors 22, no. 20 (October 18, 2022): 7939. http://dx.doi.org/10.3390/s22207939.
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The global navigation satellite system (GNSS) real-time kinematic (RTK) technique is used to achieve relative positioning centimeter levels among multiple agents on the move. A typical GNSS RTK estimates the relative positions of multiple rover receivers with respect to a single-base receiver. In a fleet of rover GNSS receivers, this approach is inefficient because each rover receiver only uses GNSS measurements of its own and those sent from a single-base receiver. In this study, we propose a novel GNSS RTK framework that facilitates the precise positioning of a swarm of moving vehicles through the GNSS measurements of multiple receivers and broadcasts fixed-integer ambiguities of GNSS carrier phases. The proposed framework not only provides efficient RTK positioning but also reliable performance with a limited number of GNSS satellites in view. Our experimental flight tests with six GNSS receivers showed that the systematic procedure of the proposed framework could maintain lower than 6 cm of 3D RMS positioning errors, whereas the conventional RTK failed to resolve the correct integer ambiguities of double difference carrier phase measurements more than 13% in five out of nine total baselines.
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Abdullah, Mardina, Norbahiah Misran, and Nor Nadira Mohammad Ariff. "Multipath Error Determinant for Pseudo Ranges Observation Data at RTK (Real Time Kinematic) Reference Stations in Malaysia." Jurnal Kejuruteraan 22, no. 1 (December 30, 2010): 31–42. http://dx.doi.org/10.17576/jkukm-2010-22-04.
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Zeng, Shulin, Cuilin Kuang, and Wenkun Yu. "Evaluation of Real-Time Kinematic Positioning and Deformation Monitoring Using Xiaomi Mi 8 Smartphone." Applied Sciences 12, no. 1 (January 3, 2022): 435. http://dx.doi.org/10.3390/app12010435.
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Modern low-cost electronic devices can achieve high precision for global navigation satellite systems (GNSSs) and related applications. Recently, the pseudo-range and carrier phase have been directly obtained from a smartphone to establish a professional-level surveying device. Although promising results have been obtained by linking to an external GNSS antenna, the real-time kinematic (RTK) positioning performance requires further improvement when using the embedded smartphone antenna. We first investigate the observation quality characteristics of the Xiaomi Mi 8 smartphone. The carrier-to-noise-density ratio of L5/E5a signals is below that of L1/E1 signals, and the cycle slip and loss of lock are severe, especially for L5/E5a signals. Therefore, we use an improved stochastic model and ambiguity-resolution strategies to improve the short-baseline RTK positioning accuracy. Experimental results show that the ambiguity fixing rate can reach approximately 90% in 3 h of observations when using the embedded antenna, while the GPS/Galileo/BDS single-frequency combination is more suitable for smartphones. On the other hand, convergence takes 10–30 min, and the RTK positioning accuracy can reach 1 and 2 cm along the horizontal and vertical directions, respectively, if ambiguity is resolved correctly. Moreover, we verify the feasibility of using a mass-produced smartphone for deformation monitoring. Results from a simulated dynamic deformation experiment indicate that a smartphone can recognise deformations as small as 2 cm.
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Timoté, Cristhian Camilo, José Miguel Juan, Jaume Sanz, Guillermo González-Casado, Adrià Rovira-García, and Miquel Escudero. "Impact of medium-scale traveling ionospheric disturbances on network real-time kinematic services: CATNET study case." Journal of Space Weather and Space Climate 10 (2020): 29. http://dx.doi.org/10.1051/swsc/2020030.
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Medium-scale traveling ionospheric disturbances (MSTIDs) are fluctuations in the plasma density that propagate through the upper layer of the atmosphere at velocities of approximately 100 m/s and periods reaching some tens of minutes. Due to their wavelengths, MSTIDs can degrade the performance of differential positioning techniques, such as real-time kinematics (RTK) or network-RTK (NRTK). This paper defines a novel methodology as a tool for relating the errors in NRTK positioning based on an MSTIDs indicator using the second difference in time of the slant total electron content (STEC). The proposed methodology performs integer ambiguity resolution (IAR) on the undifferenced measurements instead of using double-differenced carrier-phase measurements, as it is usual in RTK and NRTK. Statistical tests are applied to evaluate the degradation in the position errors caused by the impacts of MSTIDs on RTK and NRTK positioning over a data set spanning one year gathered from the CATNET network; a dual-frequency network of fixed permanent GNSS receivers located at the mid-latitudes of northeastern Spain. With the development of the proposed methodology for measuring the position degradation, another results of the present research are the establishment of thresholds for the proposed MSTIDs index, which can be used to monitor the positioning solution and to warn users when the measurements are affected by MSTIDs events, relating the position error to MSTIDs that affect not only the user receivers but also of the reference receivers within the network.
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Lucjan Setlak and Rafał Kowalik. "RTK Kinematic Positioning Accuracy with Double Phase Difference of SIS GNSS Signals." Communications - Scientific letters of the University of Zilina 23, no. 3 (July 1, 2021): E35—E45. http://dx.doi.org/10.26552/com.c.2021.3.e35-e45.
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The article presents results of verification of the kinematic measurements usefulness for precise real-time positioning RTK in the local reference system. These measurements allow for continuous RTK measurements in the event of temporary interruptions in radio or internet connections, which are the main reason for interruptions in RTK kinematic measurements and cause a decrease in the reliability and efficiency of this positioning method. Short interruptions communication are allowed during the loss of the key correction stream from the local RTK support network, so the global corrections obtained from the geostationary satellite are used. The aim of the article was to analyze the accuracy of measuring the position of moving objects. Practical conclusions were formulated according to the research subject, the presented mathematical models, the experiment and the analysis of the obtained results.
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Baybura, Tamer, İbrahim Tiryakioğlu, Mehmet Ali Uğur, Halil İbrahim Solak, and Şeyma Şafak. "Examining the Accuracy of Network RTK and Long Base RTK Methods with Repetitive Measurements." Journal of Sensors 2019 (November 18, 2019): 1–12. http://dx.doi.org/10.1155/2019/3572605.
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Real-time kinematic (RTK) technique is important for mapping applications requiring short measure time, the distance between rover and base station, and high accuracy. There are several RTK methods used today such as the traditional RTK, long base RTK (LBRTK), network RTK (NRTK), and precise point positioning RTK (PPP-RTK). NRTK and LBRTK are popular with the advantage of the distance, the time, and accuracy. In the present study, the NRTK and LBRTK measurements were compared in terms of accuracy and distance in a test network with 6 sites that was established between 5 and 60 km. Repetitive NRTK and LBRTK measurements were performed on 6 different days in 2015-2017-2018 and additionally 4 campaigns of repetitive static measurements were carried out in this test network. The results of NRTK and LBRTK methods were examined and compared with all relevant aspects by considering the results of the static measurements as real coordinates. The study results showed that the LBRTK and NRTK methods yielded similar results at base lengths up to 40 km with the differences less than 3 cm horizontally and 4 cm vertically.
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Tang, Weiming, Xiaolin Meng, Chuang Shi, and Jingnan Liu. "Algorithms for Sparse Network-based RTK GPS Positioning and Performance Assessment." Journal of Navigation 66, no. 3 (April 8, 2013): 335–48. http://dx.doi.org/10.1017/s0373463313000015.
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The average inter-station distances in most established network Real Time Kinematic (RTK) systems are constrained to around 50 km. A sparse network RTK system with an average inter-station distance of up to 300 km would have many appealing advantages over a conventional one, including a significant reduction in the development and maintenance costs. The first part of this paper introduces the key approaches for sparse network RTK positioning technology. These include long-range reference baseline ambiguity resolution and real-time kinematic ambiguity resolution for the rover receivers. The proposed method for long-range kinematic ambiguity resolution can overcome the network weaknesses through three procedures: application of the interpolated corrections from the sparse network only to wide-lane combination; searching the ambiguities of wide-lane combination; and searching L1 ambiguities with wide-lane combination and ionosphere-free observables. To test these techniques, a network including ten reference stations was created from the Ordnance Survey's Network (OS NetTM) that covers the whole territory of the United Kingdom (UK). The average baseline length of this sparse network is about 300 km. To assess the positioning performance, nine rover stations situated inside and outside the network were also selected from the OS Net™. Finally, the accuracy of interpolated corrections, the positioning accuracy and the initialization time required for precise positioning were estimated and analysed. From the observed performance of each rover receiver, and the accuracy of interpolated network corrections, it can be concluded that it is feasible to use a sparse reference station network with an average inter-station distance up to 300 km for achieving similar performance to traditional network RTK positioning. The proposed approach can provide more cost-efficient use of network RTK (NRTK) positioning for engineering and environmental applications that are currently being delivered by traditional network RTK positioning technology.
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Keshavarzi, Hamideh, Caroline Lee, Mark Johnson, David Abbott, Wei Ni, and Dana L. M. Campbell. "Validation of Real-Time Kinematic (RTK) Devices on Sheep to Detect Grazing Movement Leaders and Social Networks in Merino Ewes." Sensors 21, no. 3 (January 30, 2021): 924. http://dx.doi.org/10.3390/s21030924.
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Understanding social behaviour in livestock groups requires accurate geo-spatial localisation data over time which is difficult to obtain in the field. Automated on-animal devices may provide a solution. This study introduced an Real-Time-Kinematic Global Navigation Satellite System (RTK-GNSS) localisation device (RTK rover) based on an RTK module manufactured by the company u-blox (Thalwil, Switzerland) that was assembled in a box and harnessed to sheep backs. Testing with 7 sheep across 4 days confirmed RTK rover tracking of sheep movement continuously with accuracy of approximately 20 cm. Individual sheep geo-spatial data were used to observe the sheep that first moved during a grazing period (movement leaders) in the one-hectare test paddock as well as construct social networks. Analysis of the optimum location update rate, with a threshold distance of 20 cm or 30 cm, showed that location sampling at a rate of 1 sample per second for 1 min followed by no samples for 4 min or 9 min, detected social networks as accurately as continuous location measurements at 1 sample every 5 s. The RTK rover acquired precise data on social networks in one sheep flock in an outdoor field environment with sampling strategies identified to extend battery life.
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Dobelis, Didzis, and Jānis Zvirgzds. "NETWORK RTK PERFORMANCE ANALYSIS: A CASE STUDY IN LATVIA." Geodesy and cartography 42, no. 3 (September 22, 2016): 69–74. http://dx.doi.org/10.3846/20296991.2016.1226383.
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Nowadays the RTK (Real Time Kinematic) method for positioning is used in daily life by different consumers for many purposes. Several different RTK correction techniques are used, starting from single site to network approaches. The GNSS market is filled with receivers from different manufacturers and different capabilities. In this paper we assess the stability of the reference station network transmitted RTK correction. Two different surveying class GNSS receivers in combination with four varied RTK correction techniques under diverse observation conditions are analyzed. This study has been conducted in Latvia, where state wide permanent GNSS reference station network has been maintained since year 2005.
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Bakuła, M., R. Pelc-Mieczkowska, and M. Walawski. "Reliable and Redundant RTK Positioning for Applications in Hard Observational Conditions." Artificial Satellites 47, no. 1 (January 1, 2012): 23–33. http://dx.doi.org/10.2478/v10018-012-011-0.
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Reliable and Redundant RTK Positioning for Applications in Hard Observational ConditionsIt is well known that RTK (Real Time Kinematic) positioning is a very efficient technique for determination of coordinates in real time, directly on location. Although this technique has been well known since the mid-nineties of the last century, the common use of this technique developed since permanent reference GNSS (Global Navigation Satellite Systems) stations started operating as the national reference systems. Positioning in real time is very convenient for users who do not need to know any advanced technique of post-processing, especially in cases when no obstructions exist around the measured point exist. However, in practice, there are some situations when the use of RTK technique makes some difficulties, especially if the GNSS receiver has no full availability of satellites. Obstructions caused by trees, buildings, power lines etc. limit satellite availability and in consequence decrease the reliability of determined coordinates significantly. In those situations gross errors of even meters can appear in RTK positioning. In order to avoid misleading coordinates occurring we can use more than one RTK receiver simultaneously. The paper presents an approach to the RTK technology based on the simultaneous use of three different RTK receivers. Three different GNSS/RTK receivers can be set on a special mounting beam and additionally RTK positions are sent in real time to a computer. The computer software analyses not only the precision but also checks the accuracy and reliability of the RTK positions determined. Consequently, the new approach to RTK survey presented can allow obtaining reliable coordinates of centimeter accuracy even under very severe forest conditions.
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Taddia, Yuri, Laura González-García, Elena Zambello, and Alberto Pellegrinelli. "Quality Assessment of Photogrammetric Models for Façade and Building Reconstruction Using DJI Phantom 4 RTK." Remote Sensing 12, no. 19 (September 24, 2020): 3144. http://dx.doi.org/10.3390/rs12193144.
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Aerial photogrammetry by Unmanned Aerial Vehicles (UAVs) is a widespread method to perform mapping tasks with high-resolution to reconstruct three-dimensional (3D) building and façade models. However, the survey of Ground Control Points (GCPs) represents a time-consuming task, while the use of Real-Time Kinematic (RTK) drones allows for one to collect camera locations with an accuracy of a few centimeters. DJI Phantom 4 RTK (DJI-P4RTK) combines this with the possibility to acquire oblique images in stationary conditions and it currently represents a versatile drone widely used from professional users together with commercial Structure-from-Motion software, such as Agisoft Metashape. In this work, we analyze the architectural application of this drone to the photogrammetric modeling of a building with particular regard to metric survey specifications for cultural heritage for 1:20, 1:50, 1:100, and 1:200 scales. In particular, we designed an accuracy assessment test signalizing 109 points, surveying them with total station and adjusting the measurements through a network approach in order to achieve millimeter-level accuracy. Image datasets with a designed Ground Sample Distance (GSD) of 2 mm were acquired in Network RTK (NRTK) and RTK modes in manual piloting and processed both as single façades (S–F) and as an overall block (4–F). Subsequently, we compared the results of photogrammetric models generated in Agisoft Metashape to the Signalized Point (SP) coordinates. The results highlight the importance of processing an overall photogrammetric block, especially whenever part of camera locations exhibited a poorer accuracy due to multipath effects. No significant differences were found between the results of network real-time kinematic (NRTK) and real-time kinematic (RTK) datasets. Horizontal residuals were generally comparable to GNSS accuracy in NRTK/RTK mode, while vertical residuals were found to be affected by an offset of about 5 cm. We introduced an external GCP or used one SP per façade as GCP, assuming a poorer camera location accuracy at the same time, in order to fix this issue and comply with metric survey specifications for the widest architectural scale range. Finally, both S–F and 4–F projects satisfied the metric survey requirements of a scale of 1:50 in at least one of the approaches tested.
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El-Mowafy, A., and N. Kubo. "Prediction of RTK positioning integrity for journey planning." Journal of Applied Geodesy 14, no. 4 (November 26, 2020): 431–43. http://dx.doi.org/10.1515/jag-2020-0038.
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AbstractPositioning integrity is crucial for Intelligent Transport Systems (ITS) applications. In this article, a method is presented for prediction of GNSS positioning integrity for ITS journey planning. This information, in addition to other route information, such as distance and time, can be utilized to choose the safest and economical route. We propose to combine the Advanced Receiver Autonomous Integrity Monitoring (ARAIM) technique, tailored for ITS, with 3D city models. Positioning is performed by GNSS Real-Time Kinematic (RTK) method, which can provide the accuracy required for ITS. A new threat model employed for computation of the protection levels (PLs) for RTK positioning is discussed. Demonstration of the proposed approach is performed through a kinematic test in an urban area in Tokyo. The comparison between the prediction method and the actual observations show that the two estimate close satellite geometry and PLs. The method produced PLs that bounds the actual position errors all the time and they were less than the preset alert limit.
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Tomasz, Hadaś. "GNSS-Warp Software for Real-Time Precise Point Positioning." Artificial Satellites 50, no. 2 (June 1, 2015): 59–76. http://dx.doi.org/10.1515/arsa-2015-0005.
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Abstract On April 1, 2013 IGS launched the real-time service providing products for Precise Point Positioning (PPP). The availability of real-time makes PPP a very powerful technique to process GNSS signals in real-time and opens a new PPP applications opportunities. There are still, however, some limitations of PPP, especially in the kinematic mode. A significant change in satellite geometry is required to efficiently de-correlate troposphere delay, receiver clock offset, and receiver height. In order to challenge PPP limitations, the GNSS-WARP (Wroclaw Algorithms for Real-time Positioning) software has been developed from scratch at Wroclaw University of Environmental and Life Science in Poland. This paper presents the GNSS-WARP software itself and some results of GNSS data analysis using PPP and PPP-RTK (Real-Time Kinematic) technique. The results of static and kinematic processing in GPS only and GPS + GLONASS mode with final and real-time products are presented. Software performance validation in postprocessing mode confirmed that the software can be considered as a state-ofthe- art software and used for further studies on PPP algorithm development. The real-time positioning test made it possible to assess the quality of real-time coordinates, which is a few millimeters for North, East, Up in static mode, a below decimeter in kinematic mode. The accuracy and precision of height estimates in kinematic mode were improved by constraining the solution with an external, near real-time troposphere model. The software also allows estimation of real-time ZTD, however, the obtained precision of 11.2 mm means that further improvements in the software, real-time products or processing strategy are required.
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Kim, Kiyoung, and Hoon Sohn. "Dynamic Displacement Estimation for Long-Span Bridges Using Acceleration and Heuristically Enhanced Displacement Measurements of Real-Time Kinematic Global Navigation System." Sensors 20, no. 18 (September 7, 2020): 5092. http://dx.doi.org/10.3390/s20185092.
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In this paper, we propose a dynamic displacement estimation method for large-scale civil infrastructures based on a two-stage Kalman filter and modified heuristic drift reduction method. When measuring displacement at large-scale infrastructures, a non-contact displacement sensor is placed on a limited number of spots such as foundations of the structures, and the sensor must have a very long measurement distance (typically longer than 100 m). RTK-GNSS, therefore, has been widely used in displacement measurement on civil infrastructures. However, RTK-GNSS has a low sampling frequency of 10–20 Hz and often suffers from its low stability due to the number of satellites and the surrounding environment. The proposed method combines data from an RTK-GNSS receiver and an accelerometer to estimate the dynamic displacement of the structure with higher precision and accuracy than those of RTK-GNSS and 100 Hz sampling frequency. In the proposed method, a heuristic drift reduction method estimates displacement with better accuracy employing a low-pass-filtered acceleration measurement by an accelerometer and a displacement measurement by an RTK-GNSS receiver. Then, the displacement estimated by the heuristic drift reduction method, the velocity measured by a single GNSS receiver, and the acceleration measured by the accelerometer are combined in a two-stage Kalman filter to estimate the dynamic displacement. The effectiveness of the proposed dynamic displacement estimation method was validated through three field application tests at Yeongjong Grand Bridge in Korea, San Francisco–Oakland Bay Bridge in California, and Qingfeng Bridge in China. In the field tests, the root-mean-square error of RTK-GNSS displacement measurement reduces by 55–78 percent after applying the proposed method.
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Takanose, Aoki, Yoshiki Atsumi, Kanamu Takikawa, and Junichi Meguro. "Improvement of Reliability Determination Performance of Real Time Kinematic Solutions Using Height Trajectory." Sensors 21, no. 2 (January 19, 2021): 657. http://dx.doi.org/10.3390/s21020657.
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Autonomous driving support systems and self-driving cars require the determination of reliable vehicle positions with high accuracy. The real time kinematic (RTK) algorithm with global navigation satellite system (GNSS) is generally employed to obtain highly accurate position information. Because RTK can estimate the fix solution, which is a centimeter-level positioning solution, it is also used as an indicator of the position reliability. However, in urban areas, the degradation of the GNSS signal environment poses a challenge. Multipath noise caused by surrounding tall buildings degrades the positioning accuracy. This leads to large errors in the fix solution, which is used as a measure of reliability. We propose a novel position reliability estimation method by considering two factors; one is that GNSS errors are more likely to occur in the height than in the plane direction; the other is that the height variation of the actual vehicle travel path is small compared to the amount of movement in the horizontal directions. Based on these considerations, we proposed a method to detect a reliable fix solution by estimating the height variation during driving. To verify the effectiveness of the proposed method, an evaluation test was conducted in an urban area of Tokyo. According to the evaluation test, a reliability judgment rate of 99% was achieved in an urban environment, and a plane accuracy of less than 0.3 m in RMS was achieved. The results indicate that the accuracy of the proposed method is higher than that of the conventional fix solution, demonstratingits effectiveness.
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Allred, Barry, DeBonne Wishart, Luis Martinez, Harry Schomberg, Steven Mirsky, George Meyers, John Elliott, and Christine Charyton. "Delineation of Agricultural Drainage Pipe Patterns Using Ground Penetrating Radar Integrated with a Real-Time Kinematic Global Navigation Satellite System." Agriculture 8, no. 11 (October 24, 2018): 167. http://dx.doi.org/10.3390/agriculture8110167.
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Better methods are needed for mapping agricultural drainage pipe systems. Prior research on small test plots indicates that ground penetrating radar (GPR) is oftentimes capable of detecting buried drainage pipes; however, the feasibility of employing this geophysical technique in larger field areas has not been adequately evaluated. Ground penetrating radar integrated with a Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) may be an effective and efficient means of mapping drain lines within agricultural fields. Therefore, GPR-RTK/GNSS was tested in three agricultural settings; with Site 1 and Site 2 located in Beltsville, MD, USA and Site 3 near Columbus, OH, USA. Soils at the three sites ranged from silty clay loam to loamy sand. A GPR unit with 250 MHz antennas was used to detect drainage pipes, and at Sites 1 and 2, a physical GNSS base station was utilized, while a virtual base station was employed at Site 3. The GPR-RTK/GNSS configurations used in this study delineated a complex rectangular drainage pipe system at Site 1, with one set of drainage pipes oriented southwest-northeast and a second oriented southeast-northwest. At Site 2, a herringbone drain line pattern was outlined, and at Site 3, random drain lines were found. When integrated with RTK/GNSS, spiral or serpentine GPR transects (or spiral/serpentine segments of a GPR transects) were utilized to provide insight on drain line directional trends. Consequently, given suitable field conditions, GPR integrated with RTK/GNSS can be a valuable tool for farmers and drainage contractors needing to map subsurface drainage systems.
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Li, Qingsong, Yi Dong, Dingjie Wang, Jie Wu, and Liang Zhang. "Real-Time Precise DGNSS/INS Integrated Relative Positioning with High Output Rate and Low Broadcast Rate for Kinematic-to-Kinematic Applications." Remote Sensing 14, no. 9 (April 25, 2022): 2053. http://dx.doi.org/10.3390/rs14092053.
Full textAbstract:
High-output-rate relative positions are required for high-speed safety-critical kinematic-to-kinematic applications such as pre-crash sensing and shipboard landing. We propose a real-time, high-output-rate relative positioning method based on the integration of a real time kinematic (RTK) differential global navigation satellite systems (DGNSS) relative positioning algorithm, carrier-phase-based tightly coupled GNSS/Inertial navigation system (TC-GNSS/INS) integration algorithm and polynomial prediction algorithm for position increment. We focus on the rarely studied issue that data broadcast rates and sampling rates have effects on the integrated relative positioning accuracy under different motion states of a moving base. A vehicle-to-vehicle field test with a frequently turning base demonstrates the advantages of the proposed method, such as low bit rate of broadcast data, high output rate of position solutions and excellent real-time tolerance of latency. The results show that compared with the 10-Hz output of sole RTK DGNSS relative positioning, the proposed method can provide centimeter-level-accuracy relative positions at an output rate of 125 Hz with a sampling rate of 1 Hz, and the bit rate can be reduced by 83.12%. A UAV-to-boat field test with straight-line-motion moving base is then carried out to validate the applicability of the proposed system for aircraft applications. The results show that the broadcast rate of position increments of the moving base can be further reduced.
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Li, Qingsong, Yi Dong, Dingjie Wang, Jie Wu, and Liang Zhang. "Real-Time Precise DGNSS/INS Integrated Relative Positioning with High Output Rate and Low Broadcast Rate for Kinematic-to-Kinematic Applications." Remote Sensing 14, no. 9 (April 25, 2022): 2053. http://dx.doi.org/10.3390/rs14092053.
Full textAbstract:
High-output-rate relative positions are required for high-speed safety-critical kinematic-to-kinematic applications such as pre-crash sensing and shipboard landing. We propose a real-time, high-output-rate relative positioning method based on the integration of a real time kinematic (RTK) differential global navigation satellite systems (DGNSS) relative positioning algorithm, carrier-phase-based tightly coupled GNSS/Inertial navigation system (TC-GNSS/INS) integration algorithm and polynomial prediction algorithm for position increment. We focus on the rarely studied issue that data broadcast rates and sampling rates have effects on the integrated relative positioning accuracy under different motion states of a moving base. A vehicle-to-vehicle field test with a frequently turning base demonstrates the advantages of the proposed method, such as low bit rate of broadcast data, high output rate of position solutions and excellent real-time tolerance of latency. The results show that compared with the 10-Hz output of sole RTK DGNSS relative positioning, the proposed method can provide centimeter-level-accuracy relative positions at an output rate of 125 Hz with a sampling rate of 1 Hz, and the bit rate can be reduced by 83.12%. A UAV-to-boat field test with straight-line-motion moving base is then carried out to validate the applicability of the proposed system for aircraft applications. The results show that the broadcast rate of position increments of the moving base can be further reduced.
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Li, Qingsong, Yi Dong, Dingjie Wang, Jie Wu, and Liang Zhang. "Real-Time Precise DGNSS/INS Integrated Relative Positioning with High Output Rate and Low Broadcast Rate for Kinematic-to-Kinematic Applications." Remote Sensing 14, no. 9 (April 25, 2022): 2053. http://dx.doi.org/10.3390/rs14092053.
Full textAbstract:
High-output-rate relative positions are required for high-speed safety-critical kinematic-to-kinematic applications such as pre-crash sensing and shipboard landing. We propose a real-time, high-output-rate relative positioning method based on the integration of a real time kinematic (RTK) differential global navigation satellite systems (DGNSS) relative positioning algorithm, carrier-phase-based tightly coupled GNSS/Inertial navigation system (TC-GNSS/INS) integration algorithm and polynomial prediction algorithm for position increment. We focus on the rarely studied issue that data broadcast rates and sampling rates have effects on the integrated relative positioning accuracy under different motion states of a moving base. A vehicle-to-vehicle field test with a frequently turning base demonstrates the advantages of the proposed method, such as low bit rate of broadcast data, high output rate of position solutions and excellent real-time tolerance of latency. The results show that compared with the 10-Hz output of sole RTK DGNSS relative positioning, the proposed method can provide centimeter-level-accuracy relative positions at an output rate of 125 Hz with a sampling rate of 1 Hz, and the bit rate can be reduced by 83.12%. A UAV-to-boat field test with straight-line-motion moving base is then carried out to validate the applicability of the proposed system for aircraft applications. The results show that the broadcast rate of position increments of the moving base can be further reduced.
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Li, Tian Zi, and Chang Hua Liu. "Application of Global Position System Real Time Kinematic to Photocontrol Point Measurement in Large Scale Aerial Survey and Analysis of the Precision." Applied Mechanics and Materials 239-240 (December 2012): 507–10. http://dx.doi.org/10.4028/www.scientific.net/amm.239-240.507.
Full textAbstract:
With the widely application of large scale aerophotogrammetry ,the traditional measurement methods already can’t satisfy the efficiency requirements of Photocontrol Point Measurement. There are some obvious advantages in GPS RTK, so it’s applied to Photocontrol Point Measurement. This article takes Jiaozuo with an aerial survey of 1:2000 for example, and introduces the operation of GPS RTK, analysis the problems in the procedure of operation, and also offers solution. As a result, the article provides a good reference to the application of Photocontrol Point Measurement. It analysis the measurement accuracy in GPS RTK, precision analysis about spatial aerotriangulation and proves that it satisfies the demand for proportion of 1:2000.
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MacGougan, Glenn, Kyle O'Keefe, and Richard Klukas. "Tightly-coupled GPS/UWB Integration." Journal of Navigation 63, no. 1 (December 1, 2009): 1–22. http://dx.doi.org/10.1017/s0373463309990257.
Full textAbstract:
Ultra-wideband (UWB) ranging radios, an emerging technology that offers precise, short distance range measurements are investigated as a method to augment carrier-phase GPS positioning. A commercially available UWB ranging system is used in a tightly-coupled GPS and UWB real-time kinematic (RTK) system. The performance of the tightly-coupled system is evaluated in static and kinematic testing. This work demonstrates that UWB errors can be successfully estimated in a real-time filter. The results of static testing show that the integrated solution provides better accuracy, better ability to resolve integer ambiguities and enhanced fixed ambiguity solution availability compared with GPS alone. In kinematic testing in a degraded GPS environment, sub-decimetre accuracy was maintained.
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Siejka, Zbigniew. "Validation of the Accuracy and Convergence Time of Real Time Kinematic Results Using a Single Galileo Navigation System." Sensors 18, no. 8 (July 25, 2018): 2412. http://dx.doi.org/10.3390/s18082412.
Full textAbstract:
For the last two decades, the American GPS and Russian GLONASS were the basic systems used in global positioning and navigation. In recent years, there has been significant progress in the development of positioning systems. New regional systems have been created, i.e., the Japanese Quasi-Zenith Satellite System (QZSS) and Indian Regional Navigational Satellite System (IRNSS). A plan to build its own regional navigation system named Korean Positioning System (KPS) was announced South Korea on 5 February 2018. Currently, two new global navigation systems are under development: the European Galileo and the Chinese BeiDou. The full operability of both systems by 2020 is planned. The paper deals with a possibility of determination of the user’s position from individual and independent global navigation satellite system (GNSS). The article is a broader concept aimed at independent determination of precise position from individual GPS, GLONASS, BeiDou and Galileo systems. It presents real time positioning results (Real Time Kinematic-RTK) using signals from Galileo satellites only. During the test, 14 Galileo satellites were used and the number of simultaneously observed Galileo satellites varied from five to seven. Real-time measurements were only possible in certain 24-h observation windows. However, their number was completed within 6 days at the end of 2017 and beginning of 2018, so there was possible to infer about the current availability, continuity, convergence time and accuracy of the RTK measurements. In addition, the systematic errors were demonstrated for the Galileo system.
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Famiglietti, Nicola Angelo, Gianpaolo Cecere, Carmine Grasso, Antonino Memmolo, and Annamaria Vicari. "A Test on the Potential of a Low Cost Unmanned Aerial Vehicle RTK/PPK Solution for Precision Positioning." Sensors 21, no. 11 (June 4, 2021): 3882. http://dx.doi.org/10.3390/s21113882.
Full textAbstract:
This paper investigated the achievable accuracy from a low-cost RTK (Real Time Kinematic)/PPK (Post Processing Kinematic) GNSS (Global Navigation Satellite Systems) system installed on board a UAV (Unmanned Aerial Vehicle), employing three different types of GNSS Bases (Alloy, RS2 and RING) working in PPK mode. To evaluate the quality of the results, a set of seven GCPs (Ground Control Points) measured by means of the NRTK (Network Real Time Kinematic) technique was used. The outcomes show a RMSE (Root Mean Square Error) of 0.0189 m for an ALLOY Base, 0.0194 m for an RS2 Base and 0.0511 m for RING Base, respectively, on the vertical value of DEMs (Digital Elevation Models) obtained by a photogrammetric process. This indicates that, when changing the Base for the PPK, the solutions are different, but they can still be considered adequate for precision positioning with UAVs, especially when GCPs could be used with some difficulty. Therefore, the integration of a RTK/PPK GNSS module on a UAV allows the reconstruction of a highly detailed and precise DEM without using GCPs and provides the possibility to carry out surveys in inaccessible areas.
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Abdul Rahman, Nazrin Afiq, Tajul Ariffin Musa, Wan Anom Wan Aris, and Abdullah Hisam Omar. "ESTIMATION OF GPS DISPERSIVE AND NON-DISPERSIVE NETWORK CORRECTION FOR ISKANDARnet NETWORK-BASED REAL-TIME KINEMATIC (N-RTK) POSITIONING SYSTEM." Journal of Information System and Technology Management 6, no. 24 (December 1, 2021): 312–25. http://dx.doi.org/10.35631/jistm.624029.
Full textAbstract:
The concept of N-RTK positioning has been extensively developed in order to better model the distance-dependent errors of GPS carrier-phase measurements. These errors can be separated into a frequency-dependent or dispersive component (i.e., the ionospheric delay) and a non-dispersive component (i.e., the tropospheric delay and orbit biases) to express the network correction in order to attain better modelling of GPS distance dependent errors. However, the N-RTK performance may degrades due to severe atmospheric irregularities that would seriously affect the modelling of the GPS distance-dependent errors, thus affecting the quality of network correction generation. The development of integrity monitoring for network correction would be great idea to identify the quality and reliability of network correction data dissemination. Therefore, this paper aims to estimates the trend of GPS dispersive and non-dispersive network correction to supports future development of integrity monitoring for network correction of ISKANDARnet N-RTK positioning system. The first part of this paper is to extract the GPS dispersive and non-dispersive network residual components. This part includes the double-differencing technique, ambiguity resolution and carrier-phased linear combination in the process. The LIM then are applied for user network coefficient value computation purpose in the second part. Finally, the GPS dispersive and non-dispersive network correction can be generated with GF and IF network correction algorithm respectively. The trend of GPS dispersive and non-dispersive network correction is expected to aid the estimation and realization of threshold limit value for development of integrity monitoring for network correction of ISKANDARnet N-RTK positioning system.
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Niu, Zun, Ping Nie, Lin Tao, Junren Sun, and Bocheng Zhu. "RTK with the Assistance of an IMU-Based Pedestrian Navigation Algorithm for Smartphones." Sensors 19, no. 14 (July 22, 2019): 3228. http://dx.doi.org/10.3390/s19143228.
Full textAbstract:
Real-time kinematic (RTK) technique is widely used in modern society because of its high accuracy and real-time positioning. The appearance of Android P and the application of BCM47755 chipset make it possible to use single-frequency RTK and dual-frequency RTK on smartphones. The Xiaomi Mi 8 is the first dual-frequency Global Navigation Satellite System (GNSS) smartphone equipped with BCM47755 chipset. However, the performance of RTK in urban areas is much poorer compared with its performance under the open sky because the satellite signals can be blocked by the buildings and trees. RTK can't provide the positioning results in some specific areas such as the urban canyons and the crossings under an overpass. This paper combines RTK with an IMU-based pedestrian navigation algorithm. We utilize attitude and heading reference system (AHRS) algorithm and zero velocity update (ZUPT) algorithm based on micro electro mechanical systems (MEMS) inertial measurement unit (IMU) in smartphones to assist RTK for the sake of improving positioning performance in urban areas. Some tests are carried out to verify the performance of RTK on the Xiaomi Mi 8 and we respectively assess the performances of RTK with and without the assistance of an IMU-based pedestrian navigation algorithm in urban areas. Results on actual tests show RTK with the assistance of an IMU-based pedestrian navigation algorithm is more robust and adaptable to complex environments than that without it.
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Hasan, Md Kamrul, Takashi S. T. Tanaka, Md Rostom Ali, Chayan Kumer Saha, and Md Monjurul Alam. "Harvester Evaluation Using Real-Time Kinematic GNSS and Hiring Service Model." AgriEngineering 3, no. 2 (June 6, 2021): 363–82. http://dx.doi.org/10.3390/agriengineering3020024.
Full textAbstract:
To reduce human drudgery and the risk of labor shortages in the Asian developing countries, the appropriate introduction of agricultural machinery, especially combine harvesters, is an urgent task. Custom hiring services (CHSs) are expected to contribute to making paddy harvesters prevalent in developing countries; however, the economic performance has been rarely quantified. The study was carried out to precisely evaluate the machine performance attributes of medium and large combine harvesters using the real-time kinematic (RTK) global navigation satellite system (GNSS) and to estimate the economic performance of CHSs of paddy harvesters in Japan, as a typical case of Asian countries. The financial profitability was evaluated by four major indicators: net present value, benefit–cost ratio, internal rate of return, and payback period. The financial indicators showed that both types of harvester could be considered financially viable. Thus, the investment in combine harvesters can be highly profitable for CHS business by a local service provider and custom-hire entrepreneur, providing a great opportunity to use a combine harvester without initial investment by general farmers. The findings demonstrated the high feasibility of CHSs of paddy harvesters in Japan, while they highlighted that further study is needed to estimate the feasibility of CHS in the other Asian developing countries.
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Jahn, Cord-Hinrich, Patrick Westfeld, Bernd Vahrenkamp, Gerhard Wübbena, Martin Schmitz, Robert Schumann, and Christoph Wallat. "Development and realisation of a real-time high precision positioning SSR-RTK service for the North Sea exclusive economic zone." International Hydrographic Review 28 (November 1, 2022): 139–57. http://dx.doi.org/10.58440/ihr-28-a16.
Full textAbstract:
In a two-year research and development project, the prototype of a GNSS (Global Navigation Satellite System) based real-time service using a SSR-RTK (State Space Representation-Real Time Kinematic) approach was developed for the German exclusive economic zone in the North Sea. Because the survey area of the North Sea can only be represented with a heterogeneous distribution of GNSS Continuously Operating Reference Stations, the calculation algorithm and the modelling of the GNSS correction data are particularly important. Maritime measurements in the survey area have confirmed the basic functionality of the prototype through an almost 90% availability of the RTK status fix with initialisation times of less than two minutes. Sea and land measurements as well as a permanent monitoring station were used to demonstrate the quality targets.
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Zvirgzds, J., and A. Celms. "GNSS RTK Performance Improvements using Galileo Satellite Signal." Latvian Journal of Physics and Technical Sciences 57, no. 1-2 (April 1, 2020): 78–84. http://dx.doi.org/10.2478/lpts-2020-0010.
Full textAbstract:
AbstractTwo factors of the existing GNSS Real-Time Kinematic (RTK) positioning are as follows: distance-dependence and unreliable ambiguity resolution under bad observation conditions in cities or forests. Use of multi-frequency GNSS signals and systems could possibly redefine RTK services in LatPos, regionally and globally, and more redundant measurements from multiple satellite systems, such as NAVSTAR, Galileo, Glonass and BeiDou, can improve the performance of RTK measurement results in terms of accuracy, availability, reliability and time to fix. The benefits of multiple systems of GNSS services are as follows: 1) savings in the reference station infrastructure costs, and 2) improvement on RTK preciseness and reliability for the professional users. The paper aims at studying how the RTK system, using multiple satellite constellations, performs, adding Galileo signal measurements. Galileo measurements are observed using a field receiver and corrections received from LatPos base station network. Numerical analysis is performed using real-time corrections in field receivers, and results from collected RINEX data are compared by various computing schemes, such as L1/L2 and wide lane signals, NAVSTAR and NAVSTAR with Galileo measurements. The results have preliminary demonstrated the significant improvement using both GNSS satellite signals. Further improvements on the LatPos system have been introduced and the planned improvements shown.
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Kim, Hee-Un, and Tae-Suk Bae. "Deep Learning-Based GNSS Network-Based Real-Time Kinematic Improvement for Autonomous Ground Vehicle Navigation." Journal of Sensors 2019 (March 31, 2019): 1–8. http://dx.doi.org/10.1155/2019/3737265.
Full textAbstract:
Much navigation over the last several decades has been aided by the global navigation satellite system (GNSS). In addition, with the advent of the multi-GNSS era, more and more satellites are available for navigation purposes. However, the navigation is generally carried out by point positioning based on the pseudoranges. The real-time kinematic (RTK) and the advanced technology, namely, the network RTK (NRTK), were introduced for better positioning and navigation. Further improved navigation was also investigated by combining other sensors such as the inertial measurement unit (IMU). On the other hand, a deep learning technique has been recently evolving in many fields, including automatic navigation of the vehicles. This is because deep learning combines various sensors without complicated analytical modeling of each individual sensor. In this study, we structured the multilayer recurrent neural networks (RNN) to improve the accuracy and the stability of the GNSS absolute solutions for the autonomous vehicle navigation. Specifically, the long short-term memory (LSTM) is an especially useful algorithm for time series data such as navigation with moderate speed of platforms. From an experiment conducted in a testing area, the LSTM algorithm developed the positioning accuracy by about 40% compared to GNSS-only navigation without any external bias information. Once the bias is taken care of, the accuracy will significantly be improved up to 8 times better than the GNSS absolute positioning results. The bias terms of the solution need to be estimated within the model by optimizing the layers as well as the nodes each layer, which should be done in further research.
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Gumilar, Irwan, Brian Bramanto, Fuad F. Rahman, and I. Made D. A. Hermawan. "Variability and Performance of Short to Long-Range Single Baseline RTK GNSS Positioning in Indonesia." E3S Web of Conferences 94 (2019): 01012. http://dx.doi.org/10.1051/e3sconf/20199401012.
Full textAbstract:
As the modernized Global Navigation Satellite System (GNSS) method, Real Time Kinematic (RTK) ensures high accuracy of position (within several centimeters). This method uses Ultra High Frequency (UHF) radio to transmit the correction data, however, due to gain and power issues, Networked Transport of RTCM via Internet Protocol (RTCM) is used to transmit the correction data for a longer baseline. This Research aims to investigate the performance of short to long-range single baseline RTK GNSS (Up to 80 KM) by applying modified LAMBDA method to resolve the ambiguity in carrier phase. The RTK solution then compared with the differential GNSS network solution. The results indicate that the differences are within RTK accuracy up to 80 km are several centimeter for horizontal solution and three times higher for vertical solution.
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Zhu, Ruihui, Yunjia Wang, Hongji Cao, Baoguo Yu, Xingli Gan, Lu Huang, Heng Zhang, Shuang Li, Haonan Jia, and Jianqiang Chen. "RTK/Pseudolite/LAHDE/IMU-PDR Integrated Pedestrian Navigation System for Urban and Indoor Environments." Sensors 20, no. 6 (March 24, 2020): 1791. http://dx.doi.org/10.3390/s20061791.
Full textAbstract:
This paper presents an evaluation of real-time kinematic (RTK)/Pseudolite/landmarks assistance heuristic drift elimination (LAHDE)/inertial measurement unit-based personal dead reckoning systems (IMU-PDR) integrated pedestrian navigation system for urban and indoor environments. Real-time kinematic (RTK) technique is widely used for high-precision positioning and can provide periodic correction to inertial measurement unit (IMU)-based personal dead reckoning systems (PDR) outdoors. However, indoors, where global positioning system (GPS) signals are not available, RTK fails to achieve high-precision positioning. Pseudolite can provide satellite-like navigation signals for user receivers to achieve positioning in indoor environments. However, there are some problems in pseudolite positioning field, such as complex multipath effect in indoor environments and integer ambiguity of carrier phase. In order to avoid the limitation of these factors, a local search method based on carrier phase difference with the assistance of IMU-PDR is proposed in this paper, which can achieve higher positioning accuracy. Besides, heuristic drift elimination algorithm with the assistance of manmade landmarks (LAHDE) is introduced to eliminate the accumulated error in headings derived by IMU-PDR in indoor corridors. An algorithm verification system was developed to carry out real experiments in a cooperation scene. Results show that, although the proposed pedestrian navigation system has to use human behavior to switch the positioning algorithm according to different scenarios, it is still effective in controlling the IMU-PDR drift error in multiscenarios including outdoor, indoor corridor, and indoor room for different people.
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Barbosa, Eduardo De Magalhães, João Francisco Galera Monico, Daniele Barroca Marra Alves, and Leonardo Castro De Oliveira. "Integridade no posicionamento RTK e RTK em rede." Boletim de Ciências Geodésicas 16, no. 4 (December 2010): 589–605. http://dx.doi.org/10.1590/s1982-21702010000400007.
Full textAbstract:
Os avanços tecnológicos nos métodos de posicionamento têm possibilitado o desenvolvimento de metodologias que viabilizam a sua utilização pelo usuário numa diversidade de aplicações. Um dos métodos de posicionamento GNSS (Global Navigation Satellite System) de grande destaque é o RTK (Real Time Kinematic), cujo conceito tem como princípio básico a alta correlação dos erros provocados pela ionosfera, troposfera e órbita dos satélites na estação de referência e em uma estação próxima de interesse, além da existência de um link de rádio ou de outro sistema de comunicação que permita a transmissão dos dados coletados na base ao usuário. Porém quando as distâncias vão aumentando, a correlação é perdida. Esse fato motivou o desenvolvimento do conceito de rede de estações de referência (RTK em Rede), visando superar esta deficiência. O RTK em Rede utiliza a infra-estrutura de uma rede de estações de referência para disponibilizar correções ao usuário. Tanto o conceito de RTK como o de RTK em rede permitem introduzir o conceito de integridade, muito utilizado em navegação, no contexto da Geodésia. Nesse artigo é apresentada a teoria sobre integridade e sua utilização no RTK e RTK em rede no contexto da rede GNSS do Estado de São Paulo. Nos resultados obtidos observou-se que a garantia da integridade indicada por HPL < AL, VPL < AL e AC < AL, representados pelo nível de proteção horizontal (HPL) e nível de proteção vertical (VPL) em relação ao limite de alarme (AL) e a acurácia (AC), na média foram de 68,3% e 63,9% para a componente horizontal e vertical, respectivamente. Discussões sobre esses resultados são apresentadas.
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Du, Yuan, Guanwen Huang, Qin Zhang, Yang Gao, and Yuting Gao. "Asynchronous RTK Method for Detecting the Stability of the Reference Station in GNSS Deformation Monitoring." Sensors 20, no. 5 (February 28, 2020): 1320. http://dx.doi.org/10.3390/s20051320.
Full textAbstract:
The real-time kinematic (RTK) positioning technique of global navigation satellite systems (GNSS) has been widely used for deformation monitoring in the past several decades. The RTK technique can provide relative displacements in a local reference frame defined by a highly stable reference station. However, the traditional RTK solution does not account for reference stations that experience displacement. This presents a challenge for establishing a near real-time GNSS monitoring system, as since the displacement of a reference station can be easily misinterpreted as a sign of rapid movement at the monitoring station. In this study, based on the reference observations in different time domains, asynchronous and synchronous RTK are proposed and applied together to address this issue, providing more reliable displacement information. Using the asynchronously generated time difference of a reference frame, the proposed approach can detect whether a measured displacement has occurred in the reference or the monitoring station in the current epoch. This allows for the separation of reference station movements from monitoring station movements. The results based on both simulated and landslide monitoring data demonstrate that the proposed method can provide reliable displacement determinations, which are critical in deformation monitoring applications, such as the early warning of landslides.
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Park, Byungwoon, and Changdon Kee. "The Compact Network RTK Method: An Effective Solution to Reduce GNSS Temporal and Spatial Decorrelation Error." Journal of Navigation 63, no. 2 (February 23, 2010): 343–62. http://dx.doi.org/10.1017/s0373463309990440.
Full textAbstract:
This paper proposes a method that combines compact real-time kinematic (RTK) and reference station (RS) networking techniques, and shows that this approach can reduce both the temporal and spatial decorrelation error. The compact RTK method compatibility with all the conventional network RTK systems, i.e., Master-Auxiliary Concept (MAC), Virtual Reference Stations (VRS), and Flächen-Korrektur Parameter (FKP), is examined theoretically in this paper. To prove that the compact RTK approach is not only valid, but also helpful to the network RTK system, a field test was held using one hour of Receiver Independent Exchange Format (RINEX) data logged every second from Continuously Operating Reference Stations (CORS). No matter which network RTK method is applied, the Compact Network RTK approach resolves the ambiguity of the carrier phase in 10–40 s and determines position with 6–7 cm horizontal and 7–8 cm vertical error (95%) in a 100 by 100 km region. Moreover, the Compact Network RTK approach enables network RTK service providers to reduce the data-link bandwidth for correction messages to 5–700 bps (bit/s) down from several thousand bps, currently 9600 bps of GPRS/GSM, without a severe degradation of accuracy.
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Kim, Euiho, Jaeyoung Song, Yujin Shin, Saekyul Kim, Pyo-Woong Son, Sulgee Park, and Sanghyun Park. "Fault-Free Protection Level Equation for CLAS PPP-RTK and Experimental Evaluations." Sensors 22, no. 9 (May 7, 2022): 3570. http://dx.doi.org/10.3390/s22093570.
Full textAbstract:
Centimeter level augmentation system (CLAS) of the quasi-zenith satellite system (QZSS) is the first precise point positioning-real time kinematic (PPP-RTK) augmentation system of the global navigation satellite system (GNSS), which is currently providing services for Japan. CLAS broadcasts the state-space representation of correction messages along with integrity messages regarding satellite faults and the quality index of each correction. In other GNSS augmentation systems, such as the space-based augmentation system (SBAS) of GNSS, the quality indices of correction messages are used to generate fault-free protection levels that represent a position bound containing a true user position with a probability of missed detections. Although the protection level equations are well defined for the SBAS, a protection level equation for the CLAS PPP-RTK service has not been rigorously discussed in the literature. This paper proposes a fault-free protection level equation for the PPP-RTK methods that considers the probability of correct integer ambiguity fixes in the GNSS carrier phase measurements as well as the CLAS correction quality messages. The computed protection levels with position errors were experimentally compared by processing the GNSS measurements from the GNSS Earth Observation Network (GEONET) stations in Japan and the L6 messages from the CLAS broadcast using the virtual reference station-real time kinematic (VRS-RTK) techniques. Our results, based on the GEONET dataset spanning 7 days, showed that the computed protection levels using the proposed equations were larger than the position errors for all epochs. In the dataset, the RMS errors of the CLAS VRS-RTK position were 4.6 and 14 cm in the horizontal and vertical directions, respectively, whereas the horizontal protection levels ranged from 25 cm to 2.3 m and the vertical protection levels ranged from 50 cm to 5.2 m based on fault-free integrity risk of 10−7.
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Farooq, Salma Zainab, Dongkai Yang, and Echoda Ngbede Joshua Ada. "A Cycle Slip Detection Framework for Reliable Single Frequency RTK Positioning." Sensors 20, no. 1 (January 6, 2020): 304. http://dx.doi.org/10.3390/s20010304.
Full textAbstract:
Single frequency real-time kinematic (RTK) positioning is expected to be the leading implementation platform for a variety of emerging GNSS mass-market applications. During RTK positioning, the most common source of measurement errors is carrier-phase cycle slips (CS). The presence of CS in carrier-phase measurements is tested by a CS detection technique and correspondingly taken care of. While using CS prone measurement data, positioning reliability is an area of concern for RTK users. Reliability can be linked with the CS detection scheme through a least squares (LS) adjustment process. This paper proposes a CS detection framework for reliable RTK positioning using single-frequency GNSS receivers. The scheme uses double differenced measurements for CS detection via LS adjustment using a detection, identification, and adaptation approach. For reliable positioning, the procedure to link the detection and identification stages is described. Through tests conducted on kinematic data, internal and external reliability are theoretically determined by calculating minimal detectable bias (MDB) and marginally detectable errors, respectively. After introducing CS, the actual values of MDB are found to be four cycles, which are higher than the theoretically obtained values of one and two cycles. Although CS detection for reliable positioning is implemented for single-frequency RTK users, the proposed procedure is generic and can be used whenever CS are detected through statistical tests during LS adjustment.
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Zhao, Lin, Jiachang Jiang, Liang Li, Chun Jia, and Jianhua Cheng. "High-Accuracy Real-Time Kinematic Positioning with Multiple Rover Receivers Sharing Common Clock." Remote Sensing 13, no. 4 (February 23, 2021): 823. http://dx.doi.org/10.3390/rs13040823.
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Since the traditional real-time kinematic positioning method is limited by the reduced satellite visibility from the deprived navigational environments, we, therefore, propose an improved RTK method with multiple rover receivers sharing a common clock. The proposed method can enhance observational redundancy by blending the observations from each rover receiver together so that the model strength will be improved. Integer ambiguity resolution of the proposed method is challenged in the presence of several inter-receiver biases (IRB). The IRB including inter-receiver code bias (IRCB) and inter-receiver phase bias (IRPB) is calibrated by the pre-estimation method because of their temporal stability. Multiple BeiDou Navigation Satellite System (BDS) dual-frequency datasets are collected to test the proposed method. The experimental results have shown that the IRCB and IRPB under the common clock mode are sufficiently stable for the ambiguity resolution. Compared with the traditional method, the ambiguity resolution success rate and positioning accuracy of the proposed method can be improved by 19.5% and 46.4% in the restricted satellite visibility environments.
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Abu Sari, Mohd Yazid. "Large Scale Topographic Map Comparison Using Unmanned Aerial Vehicle (UAV) Imagers and Real Time Kinematic (RTK)." International Journal of Advanced Trends in Computer Science and Engineering 9, no. 1.1 S I (February 15, 2020): 328–38. http://dx.doi.org/10.30534/ijatcse/2020/5691.12020.
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Berber, M., and N. Arslan. "Atmospheric Effects on RTK Network in Florida." Boletim de Ciências Geodésicas 21, no. 4 (December 2015): 814–31. http://dx.doi.org/10.1590/s1982-21702015000300048.
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Commonly used real time kinematic (RTK) network (RTK Network) techniques, i.e., MAX, I-MAX, FKP and VRS, are tested by taking monthly measurements for a year in Florida. Additionally, RTCM message versions 2 and 3 are used with I-MAX and VRS measurements. The results revealed that mostly, horizontal coordinates vary a few centimeters and generally changes in vertical coordinates are less than two decimeters. In terms of horizontal coordinates, the best results are produced by I-MAX3 method and FKP yielded the worst results. In terms of vertical coordinates, almost all results look alike; however, the best results are produced by VRS3 method. It appears that I-MAX3 performed better than I-MAX2 and VRS3 performed better than VRS2. Yet, MAX did not stand out among other techniques.
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Ferreira, António, Bruno Matias, José Almeida, and Eduardo Silva. "Real-time GNSS precise positioning: RTKLIB for ROS." International Journal of Advanced Robotic Systems 17, no. 3 (May 1, 2020): 172988142090452. http://dx.doi.org/10.1177/1729881420904526.
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The global navigation satellite system (GNSS) constitutes an effective and affordable solution to the outdoor positioning problem. When combined with precise positioning techniques, such as the real time kinematic (RTK), centimeter-level positioning accuracy becomes a reality. Such performance is suitable for a whole new range of demanding applications, including high-accuracy field robotics operations. The RTKRCV, part of the RTKLIB package, is one of the most popular open-source solutions for real-time GNSS precise positioning. Yet the lack of integration with the robot operating system (ROS), constitutes a limitation on its adoption by the robotics community. This article addresses this limitation, reporting a new implementation which brings the RTKRCV capabilities into ROS. New features, including ROS publishing and control over a ROS service, were introduced seamlessly, to ensure full compatibility with all original options. Additionally, a new observation synchronization scheme improves solution consistency, particularly relevant for the moving-baseline positioning mode. Real application examples are presented to demonstrate the advantages of our rtkrcv_ros package. For community benefit, the software was released as an open-source package.
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Zhang, Jiachen, Weisong Wen, Feng Huang, Yongliang Wang, Xiaodong Chen, and Li-Ta Hsu. "GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons." Applied Sciences 12, no. 10 (May 20, 2022): 5193. http://dx.doi.org/10.3390/app12105193.
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Global Navigation Satellite System Real-time Kinematic (GNSS-RTK) is an indispensable source for the absolute positioning of autonomous systems. Unfortunately, the performance of the GNSS-RTK is significantly degraded in urban canyons, due to the notorious multipath and Non-Line-of-Sight (NLOS). On the contrary, LiDAR/inertial odometry (LIO) can provide locally accurate pose estimation in structured urban scenarios but is subjected to drift over time. Considering their complementarities, GNSS-RTK, adaptively integrated with LIO was proposed in this paper, aiming to realize continuous and accurate global positioning for autonomous systems in urban scenarios. As one of the main contributions, this paper proposes to identify the quality of the GNSS-RTK solution based on the point cloud map incrementally generated by LIO. A smaller mean elevation angle mask of the surrounding point cloud indicates a relatively open area thus the correspondent GNSS-RTK would be reliable. Global factor graph optimization is performed to fuse reliable GNSS-RTK and LIO. Evaluations are performed on datasets collected in typical urban canyons of Hong Kong. With the help of the proposed GNSS-RTK selection strategy, the performance of the GNSS-RTK/LIO integration was significantly improved with the absolute translation error reduced by more than 50%, compared with the conventional integration method where all the GNSS-RTK solutions are used.
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Ng, Kok Mun, Ravenny Sandin Nahar, and Mamun IbneReaz. "Linear regression models with autoregressive integrated moving average errors for measurements from real time kinematics-global navigation satellite system during dynamic test." International Journal of Electrical and Computer Engineering (IJECE) 13, no. 1 (February 1, 2023): 770. http://dx.doi.org/10.11591/ijece.v13i1.pp770-780.
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<span lang="EN-US">The autoregressive integrated moving average (ARIMA) method has been used to model global navigation satellite systems (GNSS) measurement errors. Most ARIMA error models describe time series data of static GNSS receivers. Its application for modeling of GNSS under dynamic tests is not evident. In this paper, we aim to describe real time kinematic-GNSS (RTK-GNSS) errors during dynamic tests using linear regression with ARIMA errors to establish a proof of concept via simulation that measurement errors along a trajectory logged by the RTK-GNSS can be “filtered”, which will result in improved positioning accuracy. Three sets of trajectory data of an RTK-GNSS logged in a multipath location were collected. Preliminary analysis on the data reveals the inability of the RTK-GNSS to achieve fixed integer solution most of the time, along with the presence of correlated noise in the error residuals. The best linear regression models with ARIMA errors for each data set were identified using the Akaike information criterion (AIC). The models were implemented via simulations to predict improved coordinate points. Evaluation on model residuals using autocorrelation, partial correlation, scatter plot, quantile-quantile (QQ) plot and histogram indicated that the models fitted the data well. Mean absolute errors were improved by up to 57.35% using the developed models.</span>
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Ouassou, Mohammed, Anna B. O. Jensen, Jon G. O. Gjevestad, and Oddgeir Kristiansen. "Next Generation Network Real-Time Kinematic Interpolation Segment to Improve the User Accuracy." International Journal of Navigation and Observation 2015 (February 19, 2015): 1–15. http://dx.doi.org/10.1155/2015/346498.
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This paper demonstrates that automatic selection of the right interpolation/smoothing method in a GNSS-based network real-time kinematic (NRTK) interpolation segment can improve the accuracy of the rover position estimates and also the processing time in the NRTK processing center. The methods discussed and investigated are inverse distance weighting (IDW); bilinear and bicubic spline interpolation; kriging interpolation; thin-plate splines; and numerical approximation methods for spatial processes. The methods are implemented and tested using GNSS data from reference stations in the Norwegian network RTK service called CPOS. Data sets with an average baseline between reference stations of 60–70 km were selected. 12 prediction locations were used to analyze the performance of the interpolation methods by computing and comparing different measures of the goodness of fit such as the root mean square error (RMSE), mean square error, and mean absolute error, and also the computation time was compared. Results of the tests show that ordinary kriging with the Matérn covariance function clearly provides the best results. The thin-plate spline provides the second best results of the methods selected and with the test data used.