Reliable Multi-GNSS Real-Time Kinematic Positioning

Abstract

Surveying, agriculture and the navigation of autonomous robots, cars, ships and aerial systems require Global Navigation Satellite Systems (GNSS) for precise positioning. In this paper, we describe a Real-Time Kinematic (RTK) positioning method, that uses both GPS and Galileo measurements with a common reference satellite, estimates a pseudorange multipath error for each satellite to prevent a mapping of multipath errors into the position, and performs a hypothesis testing for ambiguity fixing. The proposed method is tested on the new Multi-Sensor, Multi-GNSS RTK positioning module of ANavS, which includes up to 3 GNSS receivers, an inertial sensor, a barometer and a processor for RTK positioning on a single board. The measurement results show a repeatable millimeter-level positioning accuracy.