Abstract
The emerging GNSSs make single-frequency (SF) RTK positioning possible. In this contribution two different types of low-cost (few hundred USDs) RTK receivers are analyzed, which can track L1 GPS, B1 BDS, E1 Galileo and L1 QZSS, or any combinations thereof, for a location in Dunedin, New Zealand. These SF RTK receivers can potentially give competitive ambiguity resolution and positioning performance to that of more expensive (thousands USDs) dual-frequency (DF) GPS receivers. A smartphone implementation of one of these SF receiver types is also evaluated. The least-squares variance component estimation (LS-VCE) procedure is first used to formulate a realistic stochastic model, which assures that our receivers at hand can achieve the best possible ambiguity resolution and RTK positioning performance. The best performing low-cost SF RTK receiver types are then assessed against DF GPS receivers and survey-grade antennas. Real data with ionospheric disturbances at low, medium and high levels are analyzed, while making use of the ionosphere-weighted model. It will be demonstrated that when the presence of the residual ionospheric delays increases, instantaneous RTK positioning is not possible for any of the receivers, and a multi-epoch model is necessary to use. It is finally shown that the low-cost SF RTK performance can remain competitive to that of more expensive DF GPS receivers even when the ionospheric disturbance level reaches a Kp-index of 7−, i.e. for a strong geomagnetic storm, for the baseline at hand.
Highlights
With the combination of Global Navigation Satellite Systems (GNSSs) like the Chinese BeiDou Navigation Satellite System (BDS), European Galileo, Japanese Quasi-Zenith Satellite System (QZSS) and the American Global Positioning System (GPS), single-frequency (SF) real-time kinematic (RTK) positioning becomes feasible (Verhagen et al 2012;B Robert OdolinskiNational School of Surveying, University of Otago, Dunedin, New ZealandDepartment of Spatial Sciences, GNSS Research Centre, Curtin University of Technology, Perth, AustraliaDepartment of Geoscience and Remote Sensing, Delft University of Technology, Delft, The NetherlandsHe et al 2014; Teunissen et al 2014; Zhao et al 2014; Odolinski et al 2015a)
We demonstrated that such performance is even better than during medium ionosphere disturbance periods for a baseline length of 8.9 km, as shown in the previous section. This is similar to the formal conclusions made in Odolinski and Teunissen (2017a). In this contribution we investigated the low-cost singlefrequency (SF) RTK receiver performance for two receiver types that can track L1 GPS, L1 QZSS, B1 BDS and E1 Galileo, or any combinations thereof, as well as a smartphone implementation of one such receiver
We compared the best performing low-cost receiver to high-grade dual-frequency (DF) GPS receivers and antennas that have a cost of several thousands USDs
Summary
With the combination of Global Navigation Satellite Systems (GNSSs) like the Chinese BeiDou Navigation Satellite System (BDS), European Galileo, Japanese Quasi-Zenith Satellite System (QZSS) and the American Global Positioning System (GPS), single-frequency (SF) real-time kinematic (RTK) positioning becomes feasible
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