Abstract
We consider robotic calibrations of GNSS receiving antennas in an open field environment. At the newly built test range, the sky is unobstructed down to 10° elevation; an industrial robot with six degrees of freedom is employed. The antenna calibration algorithm uses single differences of carrier phases. Two types of antennas are tested, a common choke ring ground plane antenna and a rover-type antenna. Three types of errors are analyzed in detail: far-field multipath, near-field multipath, and errors of antenna positioning by the robot. For far-field multipath, it has been shown that the notion of the satellite signal reflection by the plain surface underneath the antenna fits well with the observed data. Parallel vertical antenna displacements are analyzed to decrease the test time. It has been shown that the near-field multipath originating from the body of the robot is the main contribution to the remaining error of calibrations: while error components related to the remaining far-field multipath and inaccuracies in the geometry of the installation are estimated at 0.1 mm each, the overall accuracy of achieved calibrations is estimated as 0.3 mm for choke ring-type antenna and as 0.7 mm for rover-type antenna. A comparison of the obtained calibrations with Geo++® GmbH data is provided.
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