Global Navigation Satellite System Real-Time Kinematic Positioning Framework for Precise Operation of a Swarm of Moving Vehicles

Abstract

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.

Integration of Technology in Agricultural Practices towards Agricultural Sustainability: A Case Study of Greece

“…The methodology operates by conducting a comparative analysis between the timing of the carrier signal emitted by satellites and the phase received by the receiver. This process effectively mitigates errors arising from atmospheric conditions and various sources of interference [37][38][39].…”

“…The real-time correction process facilitates accurate navigation and positioning, rendering real-time kinematics (RTK) highly valuable in various domains, including precision farming, construction, and land surveying. In these fields, the acquisition of precise location data is of utmost importance for optimizing operations and facilitating informed decision-making [37][38][39].…”

An GNSS/INS Integrated Navigation Algorithm Based on PSO-LSTM in Satellite Rejection

“…Among the mainstream navigation systems, satellite navigation system and INS are most common. The satellite navigation system can realize all-weather global positioning [12], which requires short observation time and has high positioning precision. In addition, the positioning error will not accumulate over time.…”