Single-Frequency Multi-GNSS RTK Positioning for Moving Platform

The problem of plenty presented by multi-GNSS constellations, including GPS, GLONASS, Galileo, BeiDou, and QZSS, is a welcome one. Previous research has shown that increased redundancy in the number of satellites not only improves positioning precision but also integrity and reliability [1-3]. This work considers single-epoch single-frequency real-time kinematic (RTK) positioning for the short baseline problem for Unmanned Aerial Vehicles (UAVs) and crane deformation. Our goal is to direct a low-cost precise position solution while utilizing the increase in satellite availability. By employing the LAMBDA method and its associated performance metrics, including ratio tests, our goal is to assess the performance of satellites in an urban Japanese setting. The algorithms presented in this paper are part of our laboratory's RTK-GNSS engine that is used for processing. Results presented include the ambiguity-resolution fix rate and the precision of positioning with empirical analysis on data collected in the field.