Phase Center Research Articles

Absolute antenna group delay variations: estimation, single station repeatability and their influence on coordinate and float ambiguity estimation in baseline positioning

Phase center offsets and variations (PCV) are common corrections applied to global navigation satellite system (GNSS) phase observations in the context of precise point positioning. Similar to PCV are group delay variations (GDV), which affect code observations. In this paper, absolute GDVs, which are independent of a reference antenna, are estimated as antenna- and frequency-specific for the frequencies 1575.42 MHz and 1176.45 MHz, where separation of receiving and transmitting antenna GDV is possible with non-rotating antennas. Nineteen receiving and transmitting antennas of GPS, Galileo, BeiDou, and QZSS satellites, using observations from static reference stations, are considered. The single station repeatability of the receiver antenna GDV i.e., the estimation of the GDV using only one station, is evaluated for all antenna-frequency combinations. The repeatability ranges from 1.1 to 7.6 cm at a zenith angle of 80°, showing significant differences between antennas and frequencies. The estimated GDV corrections are applied to multi-GNSS baseline positioning using a total of 116 baselines. Receiver antenna GDV corrections exhibit a significant non-zero mean effect on the code-based vertical coordinate estimate. Float ambiguities are estimated using observation periods of up to 20 min. The 0.95-quantile effect of the GDV corrections on narrow lane ambiguity estimates is 2.02 cycles at the first epoch and 0.54 cycles after 5 min using 30 s observation sampling. The effect on wide lane ambiguities is constant over the 20-min period considered, with the 0.95-quantile being around 0.1 cycles for the GNSS considered.

Affordable Real-Time PPP—Combining Low-Cost GNSS Receivers with Galileo HAS Corrections in Static, Pseudo-Kinematic, and UAV Experiments

The Galileo High Accuracy Service (HAS) is a free of charge Global Navigation Satellite System (GNSS) augmentation service provided by the European Union. It is designed to enable real-time Precise Point Positioning (PPP) with a target accuracy (at the 95% confidence level) of 20 cm and 40 cm in the horizontal and vertical components, respectively, to be achieved within 300 s. The performance of the service has been confirmed with geodetic-grade receivers. However, mass market applications require low-cost GNSS receivers connected to low-cost antennae. This paper focuses on the performance of the real-time static and kinematic positioning achieved with Galileo HAS and low-cost GNSS receivers. The study is limited to GPS+Galileo dual-frequency positioning, thus exploiting the full potential of Galileo HAS SL1. We demonstrate that the target accuracy of Galileo HAS SL1 is reached with both geodetic-grade and low-cost receivers in dual-frequency static and kinematic applications in open-sky conditions. Precision of a few centimeters is reached for static positioning, while kinematic positioning results in subdecimeter precision. Vertical accuracy is limited by missing phase center offset models for low-cost antennas. In general, the performance of low-cost hardware using Galileo HAS for real-time PPP is comparable to that of geodetic-grade hardware. Therefore, combining low-cost GNSS receivers with Galileo HAS is feasible and justified.

Evaluating antenna phase center variation effects on tropospheric delay retrieval using a low-cost dual-frequency GNSS receiver

Abstract This study examines the impact of Phase Center Variation (PCV) corrections on Zenith Wet Delay (ZWD) accuracy using a low-cost U-blox ZED-F9P receiver paired with three different antenna configurations: the high-grade TRM57971 antenna, the moderate-grade AS-ANT3BCAL antenna, and the low-cost ANN-MB-00 antenna. Among the three antennas evaluated, the low-cost antenna exhibited the largest PCV magnitude and a pronounced elevation angle dependence. In contrast, the other two antennas demonstrated lower levels of PCV variation. Without PCV corrections, the low-cost antenna showed significant ZWD biases compared to reference values. Applying PCV corrections significantly improved its accuracy, reducing bias and RMS by 88% and 79%, respectively. Moderate- and high-grade antennas experienced minimal improvement with correction. All antennas exhibited remarkable day-to-day repeatability in their residual patterns, despite variations observed in the RMS of phase residuals. This observed repeatability is likely attributable to the presence of unmodeled multipath contributions. The variations in RMS, in turn, can be primarily ascribed to inherent differences in multipath resistance among the antenna designs. This study highlights the critical role of PCV corrections for accurate ZWD estimation with low-cost GNSS receivers. Future research should prioritize the acquisition of manufacturer-provided calibration data for low-cost antennas to streamline and enhance the accuracy of PCV correction applications. Moreover, efforts should be directed toward developing innovative solutions, such as low-cost, multipath-resistant antennas or advanced signal processing algorithms, to mitigate the impact of multipath errors. By addressing these areas, low-cost GNSS solutions can become more reliable and cost-effective tools for tropospheric delay estimation.

Theoretical Substantiation of Methods for Reducing the Near-Side Radiation of Antennas for an Earth Satellite Communication Station

Within the framework of this article, various methods of reducing the lateral radiation of the antenna are considered, which mainly relate to the angular directions directly adjacent to the direction of the main radiation of the antenna for an earth satellite communication station. The relevance of this issue is beyond doubt, since it is the behavior of the antenna's diagrammatic orientation in this area that most significantly determines the electromagnetic compatibility of various satellite communication systems. The presence of axial shading leads to a significant increase in the near side lobes. The specified deformation of directional properties in a certain plane can be eliminated by using an additional radiator, the phase center of which in this plane coincides with the phase center of the antenna. Shadow radiation compensation is carried out only in a beam of regions close to the plane perpendicular to the straight line connecting the centers of the main and auxiliary antennas. The angular compensation area can be significantly expanded if the phase centers of the main and auxiliary antennas are combined. This rather trivial conclusion is still waiting for its non-trivial technical implementation. Wide-angle compensation of lateral radiation is proposed to be carried out by two auxiliary antennas located parallel to the suppression plane. The best results can be obtained by optimizing the opening shape of the auxiliary radiators. Studies show that the optimal variant of the directional pattern occurs when the mentioned irradiators are made in the form of rectangles with a length of 0,295 and a height of 0,117 from the opening radius of the main antenna, and the distribution in the openings of the auxiliary antennas is cosine-shaped. In this case, it is possible to suppress the radiation level to -40 dB.

Investigations of motor performance with neuromodulation and exoskeleton using leader-follower modality: a tDCS study.

This study investigates how the combination of robot-mediated haptic interaction and cerebellar neuromodulation can improve task performance and promote motor skill development in healthy individuals using a robotic exoskeleton worn on the index finger. The authors propose a leader-follower type of mirror game where participants can follow a leader in a two-dimensional virtual reality environment while the exoskeleton tracks the index finger motion using an admittance filter. The game requires two primary learning phases: the initial phase focuses on mastering the pinching interface, while the second phase centers on predicting the leader's movements. Cerebral transcranial direct current stimulation (tDCS) with anodal polarity is applied to the subjects during the game. It is shown that the subjects' performance improves as they play the game. The combination of tDCS with finger exoskeleton significantly enhances task performance. Our research indicates that modulation of the cerebellum during the mirror game improves the motor skills of healthy individuals. The results also indicate potential uses for motor neurorehabilitation in hemiplegia patients.

Phase Error Correction in Sparse Linear MIMO Radar Based on the Equivalent Phase Center Principle

Multiple-input multiple-output (MIMO) technology is widely used in the field of radar imaging. Array sparse optimization reduces the hardware cost of MIMO radar, while virtual aperture and the equivalent phase center (EPC) principle simplify the radar signal model and reduce the computation and complexity of imaging algorithms. However, the application of sparse array structure and the EPC principle produces a non-negligible phase error, which affects the imaging quality. This paper simplifies the MIMO radar signal model based on the phase center approximation, analyzes the phase error generated by this method, and proposes an improved phase error correction method to solve the problem that the target cannot be well-focused at non-reference distance during imaging. In addition, this paper designs a sparse linear MIMO array with a periodic structure, which reduces the number of transmitting and receiving units, system complexity, and hardware costs. The proposed phase correction method was combined with the wavenumber domain algorithm to simulate and experiment on the designed antenna array, and good experimental results were obtained to verify the effectiveness of the proposed method.

Acute effects of lower limb wearable resistance on horizontal deceleration and change of direction biomechanics.

This study aimed to investigate the acute effects of lower limb wearable resistance on maximal horizontal deceleration biomechanics, across two different assessments. Twenty recreationally trained team sport athletes performed acceleration to deceleration assessments (ADA), and 5-0-5 change of direction (COD) tests across three load conditions (unloaded, 2% of BW, 4% of body weight (BW)), with load attached to the anterior and posterior thighs and shanks. Linear mixed effect models with participant ID as the random effect, and load condition as the fixed effect were used to study load-specific biomechanical differences in deceleration mechanics across both tests. Primary study findings indicate that for the ADA, in the 4% BW condition, participants exhibited significantly greater degrees of Avg Approach Momentum, as well as significant reductions in deceleration phase center of mass (COM) drop, and Avg Brake Step ground contact deceleration (GCD) in both the 2% BW, and 4% BW condition, compared to the unloaded condition. In the 5-0-5 tests, participants experienced significant reductions in Avg Approach Velocity, Avg deceleration (DEC), and Stopping Time in the 4% BW condition compared to the unloaded condition. Similar to the ADA test, participants also experienced significant reductions in Avg Brake Step GCD in both the 2% BW and 4% BW conditions, and significant increases in Avg Approach Momentum in the 4% BW condition, compared to the unloaded condition. Therefore, findings suggest that based on the test, and metric of interest, the addition of lower limb wearable resistance led to acute differences in maximal horizontal deceleration biomechanics. However, future investigations are warranted to further explore if the use of lower limb wearable resistance could present as an effective training tool in enhancing athlete's horizontal deceleration and change of direction performance.

Datum Alignment Between GNSS-IR Sea Level Estimations and Tide Gauges in Türkiye: A Vertical Local Tie Approach

Connecting Asia and Europe, Türkiye is vital for maritime transit, which requires continuous and precise sea level monitoring. Traditional tide gauges (TGs), while valuable, often have data gaps. GNSS-IR provides an alternative, though aligning it with TG measurements is challenging. This study introduces a method to estimate Vertical Local Tie (VLT) between the TG zero and the GNSS antenna phase centre, allowing GNSS-IR sea level estimates to be aligned with TG measurements. In disruptions, GNSS-IR can consistently supplement TG data. We validated this approach by evaluating a 1-year data from four GNSS stations namely, ARSZ, GADA, TRBZ, and YLVA involving in the Türkiye National Sea Level Monitoring System (TUDES) network. These stations are located on the coasts of the Mediterranean, Aegean, Black, and Marmara Seas, respectively. Compared with the TG measurements, ARSZ achieved the highest epoch-based correlation as 87.00%. For daily averages, the GADA and TRBZ showed a correlation of over 96% with TG data. Notably, TRBZ recorded the lowest daily average RMSE at 2.2 cm using the VLT-median approach. The results demonstrate that when VLT is utilized, well-configured GNSS stations, ensuring uninterrupted transmissions and appropriate data intervals, provide a reliable alternative or complement to TGs for sea level monitoring.

Analysis of Comparability of PCV in Surveying-Grade GNSS Antenna – Topcon HIPER-VR Case Study

ABSTRACT It is well known that the phase center of a Global Navigation Satellite System (GNSS) antenna is not a stable point. For any given GNSS antenna, the phase center will change with the direction of the incoming signal from a satellite, as well as the frequency. Ignoring these phase center variations (PCVs) in GNSS data processing can lead to notable errors, especially in vertical position component determination. To avoid the problem, antenna PCV together with the phase center offset (PCO) information are recommended to be used in GNSS observation processing. We currently distinguish between individual and type-mean phase center correction (PCC) models. These models describe the variations in the phase center of the antenna as a function of the elevation angle and azimuth. In general, the primary difference between individual and type-mean models lies in their specificity. Individual models are highly precise but are valid only for a particular antenna model, while the type-mean models are more general and can be applied to a broad range of antennas of the same type, but may suffer from a lower level of precision. This paper aims to analyze the comparability of PCV in surveying-grade GNSS antennas. For the analyses, we propose to use an originally designed bench with precisely defined relative positions of the seven antenna mounting points. Preliminary studies have been performed using GPS observations on L1 and L2 frequencies recorded by seven Topcon HIPER-VR antennas. The results proved that the comparability of PCV for this antenna is high. The position error did not exceed 3 mm. It could be assumed that the type-mean PCC model could describe PCV all antennas of this type with good accuracy.

Noniterative DOA Estimation in Time-Modulated Array Under Unidirectional Phase Center Motion

Noniterative DOA Estimation in Time-Modulated Array Under Unidirectional Phase Center Motion

High-resolution wide-swath SAR imaging with multifrequency pulse diversity mode in azimuth multichannel system

ABSTRACT High-resolution wide-swath (HRWS) imaging has emerged as a focal point in synthetic aperture radar (SAR) research. However, conventional SAR systems face challenges in achieving both high azimuth resolution and wide swath simultaneously due to the minimum antenna area constraint. In this paper, we propose a HRWS imaging method based on multifrequency pulse diversity (MFPD) and azimuth multichannel (AMC) technique, capable of resolving range and Doppler ambiguities concurrently. In MFPD mode, range ambiguous echoes can be separated by matched filters in the range frequency domain, as multifrequency pulses are transmitted by a single channel in the transmitter. To further enhance the ambiguity resolution ability of the system and address azimuth incoherence, a novel scheme applying the MFPD to AMC system is proposed, categorized into two distinct scenarios. 1) Uniform Sampling: This scenario satisfies the displaced phase centre antenna condition. Under this condition, high range resolution imaging can be achieved through spectrum splicing in range frequency domain, simultaneously resolving Doppler ambiguity. 2) Non-uniform Sampling: In this scenario, the ambiguous echoes are processed by spatial digital beamforming and spectrum splicing in two-dimensional frequency domain. Finally, the HRWS imaging can be obtained by performing the traditional SAR algorithm. Furthermore, the proposed method can synthesize a wideband signal from multifrequency signals, thereby enhancing the feasibility of super-high-resolution imaging. Simulation results demonstrate the effectiveness of the proposed method.

Unequally-spaced slot strategy for radiation null reduction in single SIW-embedded antenna element

The incorporation of higher-order modes (HOMs) can substantially augment the antenna gain and bandwidth, but this improvement is typically accompanied by compromised radiation performance including radiation nulls and higher side lobe levels. In this study, an inventive strategy is introduced to reduce the radiation nulls and the side lobe levels of a single antenna element by positioning multiple slots of the radiating element at unequal spacing. Dual hybrid HOMs are analyzed inside a substrate integrated waveguide-based cavity to design a wide band, enhanced gain dual-polarized antenna. The radiating element of the antenna is designed with multiple slots positioned at unequal spacing but symmetrical along the origin. This methodology provides three-fold advantages: a reduction of side lobes, an adjustment of phase center, and a significant reduction of radiation nulls. The antenna has been fabricated, and experimentally validated. The antenna exhibits a reduction in radiation null to − 0.5 dB, a phase adjustment of the main lobe to 0°, and a reduction in side lobe level from − 14.4 dB (N = 2, equal spacing) and − 15.5 dB (N = 4, equal spacing) a maximum of − 19.7 dB (N = 4, unequal spacing) at 12.35 GHz in the phi-0 plane. Excellent agreement between measured and simulated results corroborates the efficacy of the proposed approach. The significant improvement in the radiation performance of the single-element antenna design sets the antenna design apart from the state-of-the-art solutions.

A Low-Complexity Beamformer for Ultrasound Imaging Based on Sub-Beamformer and Multi-Apodization With Cross-Correlation

ObjectiveThis paper proposes an ultrasound imaging algorithm based on sub-beamformer and multi-apodization with cross-correlation (SUB-MAX), aiming to achieve high resolution close to the minimum variance (MV) beamforming with low complexity and to enhance image contrast while maintaining background quality. MethodsThe output of two (N/2)-element DAS beamformers with asymmetric phase centers is subtracted, resulting in a large drop in the main-lobe amplitude, while the sidelobe maintains a relatively high amplitude level. Inspired by this characteristic, the coefficients with opposite trends compared with the subtracted output are obtained and fused with the normalized cross-correlation (NCC) weighting matrix acquired by using multi-pair received apodization, the proposed SUB-MAX obtains a new weighting matrix to weight the output of the DAS beamformer. ResultsFor ats_wire point targets, the average full-width at half-maximum (FWHM) of SUB-MAX compared with DAS, DMAS, CF, and MAX decreases by 52.7%, 43.5%, 33.3%, and 52.7%, respectively. For geabr_0 cysts, the average contrast ratio (CR) of SUB-MAX compared with DAS, MV, DMAS, and CF increases by 57.7%, 86.8%, 2.5%, and 14.4%, respectively. Experiments on rat_tumor dataset also indicate that SUB-MAX has a superior comprehensive imaging performance. ConclusionThe experimental results indicate that the superior comprehensive imaging performance of the proposed SUB-MAX is expected to be suitable for real-time imaging systems due to its non-reliance on covariance matrix inversion.

Antenna and attitude modeling of modernized GLONASS satellites

Next to the legacy frequency division multiple access (FDMA) signals in the L1 and L2 band, modernized GLONASS satellites of the M+, K1, and K2 generation also transmit new code division multiple access (CDMA) signals on L3, and, in part, the L1 and L2 frequencies. Depending on the specific satellite platform, either a common antenna or two distinct antennas are used for the individual signals. As a novel feature, the new CDMA navigation messages provide information on the antenna phase center locations as well as the spacecraft orientation during rate-limited noon and midnight turns. We establish a comprehensive set of phase center positions for the individual GLONASS antennas from manufacturer data and information in the CDMA navigation messages, inferred from the comparison of FDMA and CDMA broadcast ephemerides, and obtained from antenna baseline estimates using a triple-frequency carrier phase combination. Based on these, reference values for the signal-specific PCOs of each block of modernized GLONASS spacecraft are derived that may be used to extend the current antenna model of the International GNSS Service (IGS) to all frequency bands. Complementary to the analysis of antenna phase center information, the new CDMA attitude model for GLONASS-K satellites is reviewed. Algorithms for computing relevant parameters of the rate-limited yaw slews including the ramp-up and -down phase based on the Sun/orbit geometry are derived that enable a concise attitude modeling in GLONASS orbit determination and precise point positioning. The model is validated through comparison with yaw angle estimates derived from triple-frequency observations showing consistency at the 1° level for the K2 satellite. On the other hand, unexpected accelerations during noon turns of GLONASS-M+ are identified, which may cause short-term yaw angle deviations of up to 20° relative to attitude models in common use within the IGS.

Extension of the BDS IGSO and MEO satellite antenna patterns with FengYun-3C and LuTan-1 onboard data

The International Global Navigation Satellite System (GNSS) Service (IGS) has recommended calibrating the extended satellite antenna Phase Center Variation (PCV) model for all navigation satellites to support low-Earth-Orbit (LEO) satellite applications. Owing to the absence of ground-calibrated PCVs for the BeiDou Navigation Satellite System (BDS), tracking data from global ground stations were used for in-orbit estimations. However, limited by the observed maximum nadir angle, PCVs based on ground data cannot cover the entire range of nadir angles observed using by LEO satellites. In this study, the FengYun-3C and LuTan-1 missions were used to extend the PCVs of the BDS Inclined GeoSynchronous orbit (IGSO) and medium-Earth-orbit (MEO) satellites. The PCVs corresponding to the ionosphere-free linear combinations of B1I/B2I, B1I/B3I, and B1C/B2a were calibrated in-orbit by extending the maximum nadir angle from 9° to 10° for the IGSO and from 13° to 15° for the MEO. There was good consistency among the estimated PCVs of satellites of the same type. In addition, these estimated PCVs were close to the corresponding satellite block-specific values estimated based on ground tracking data. The impact of the extended PCVs of the BDS satellite antenna was investigated by comparing them with the unextended PCVs model in the receiver antenna PCVs pattern estimation and precise orbit determination of the FengYun-3C and LuTan-1 satellites. The results showed that the extended BDS satellite PCVs effectively reduced the unmodeled error of the unextended BDS satellite PCVs in the low-elevation region of the LEO receiver antenna PCV patterns. In addition, compared with the introduction of phase center offset alone, the introduction of ground-based PCVs can improve the overlapping orbit differences (OODs) of LEO satellites, and the extended BDS satellite PCVs can further improve the OODs. Taking B1C/B2a as an example, the improvement ratio of OODs in the 3D direction of Lutan-1A increased from 5.2 % to 8.0 %, and that of Lutan-1B can rise from 1.7 % to 4.2 %.

A GAN-based fast focusing method for circular SAR images

Circular Synthetic Aperture Radar(CSAR) imaging is vulnerable to perturbations in the atmosphere and various other elements that can lead to position offset errors in the antenna's phase center as well as induce motion errors. Traditional phase compensation methods that operate in the time domain, such as Auto-regressive Back-projection (ARBP), typically require computation on a direction-by-direction basis, which can result in the considerable expenditure of time and memory resources. To address these challenges, thispaperintroduces a novel approach for focusing on CSAR images. This method leverages the training of a Generative Adversarial Network (GAN) to directly achieve focus on CSAR sub-aperture images. Additionally, to counteract the network's tendency towards low-frequency preferences, the Auto-focus Frequency Loss (AFFL) is introduced. Moreover, to enhance the accuracy of focus position extraction, the Focus Position Feature Attention (FPFA) is proposed. These innovations, along with a new fusion strategy for the sub-aperture images post-focusing, have been experimentally validated, demonstrating significant improvements in the efficiency and accuracy of CSAR image focusing.

Method of constructive synthesis of a flat active phased array antenna with a limited number of active channels

A method of constructive synthesis of a flat active phased array antenna from linear horizontal sublattices with an unequal number of antenna elements and the number of active channels equal to the number of sublattices is proposed. The transmission coefficients of the active channels, the number of elements in the sublattices and the coordinates of the placement of the phase centers of the sublattices of the active phased array antenna array in a flat opening are considered as the desired parameters of the constructive synthesis problem. Restrictions are set on the shape of the boundary of the flat opening and the amplitude distribution in the opening of the active phased array antenna. The requirements for the scanning sector of the active phased array antenna are formulated. The method is based on an iterative procedure. In the process of its implementation, the deviation of the amplitude distribution in the opening of the active phased array antenna from the sublattices from the specified amplitude distribution is minimized. The method has shown its efficiency in the formation of various amplitude distributions in the AFAR opening. The stability of the problem solution to external influences, including in the event of failures of antenna elements, is estimated. The solutions obtained can be used in monopulse radar stations with mechanical beam scanning in the azimuthal plane and electronic scanning in the angular plane.

PCO and hardware delay calibration for LEO satellite antenna downlinking navigation signals

Augmentation of the Global Navigation Satellite System by low earth orbit (LEO) satellites is a promising approach benefiting from the advantages of LEO satellites. This, however, requires errors and biases in the satellite downlink navigation signals to be calibrated, modeled, or eliminated. This contribution introduces an approach for in-orbit calibration of the phase center offsets (PCOs) and code hardware delays of the LEO downlink navigation signal transmitter/antenna. Using the satellite geometries of Sentinel-3B and Sentinel-6A as examples, the study analyzed the formal precision and bias influences for potential downlink antenna PCOs and hardware delays of LEO satellites under different ground network distributions, and processing periods. It was found that increasing the number of tracking stations and processing periods can improve the formal precision of PCOs and hardware delay. Less than 3.5 mm and 3 cm, respectively, can be achieved with 10 stations and 6 processing days. The bias projections of the real-time LEO satellite orbital and clock errors can reach below 3 mm in such a case. For near-polar LEO satellites, stations in polar areas are essential for strengthening the observation model.

Elevation bias due to penetration of spaceborne radar signal on Grosser Aletschgletscher, Switzerland

Abstract Digital elevation models (DEMs) from the spaceborne interferometric radar mission TanDEM-X hold a large potential for glacier change assessments. However, a bias is potentially introduced through the penetration of the X-band signal into snow and firn. To improve our understanding of radar penetration on glaciers, we compare DEMs derived from the almost synchronous acquisition of TanDEM-X and Pléiades optical stereo-images of Grosser Aletschgletscher in March 2021. We found that the elevation bias – averaged per elevation bin – can reach up to 4–8 m in the accumulation area, depending on post co-registration corrections. Concurrent in situ measurements (ground-penetrating radar, snow cores, snow pits) reveal that the signal is not obstructed by the last summer horizon but reaches into perennial firn. Because of volume scattering, the TanDEM-X surface is determined by the scattering phase centre and does not coincide with a specific firn layer. We show that the bias corresponds to more than half of the decadal ice loss rate. To minimize the radar penetration bias, we recommend to select DEMs from the same time of the year and over long observation periods. A correction of the radar penetration bias is recommended, especially when combining optical and TanDEM-X DEMs.

Low-cost GNSS antennas in precise positioning: a focus on multipath and antenna phase center models

The rapid growth of the GNSS equipment market has put affordable receivers and antennas capable of receiving satellite signals into the hands of users. High positioning accuracy, previously achievable only with high-grade devices, is becoming possible with low-cost ones. However, simplifications in the design of these devices, intended to reduce the manufacturing cost, affect their capabilities. This study analyzes the positioning accuracy that may be achieved with recent low-cost antennas. We put particular stress on investigating the susceptibility of such antennas to the multipath effect and implications from the quality of the antenna phase center models. The positioning performance is assessed by employing the Precise Point Positioning method with the integer ambiguity resolution of phase observations. The results obtained with three low-cost antennas are validated against three high-grade antennas. We reveal a two-to threefold decrease in positioning performance with low-cost antennas compared to high-quality equipment. However, positioning accuracy increased when a low-cost antenna with a phase correction model was used, particularly for the eastern component of coordinate bias. In addition, a significant susceptibility of low-cost antennas to the multipath effect was confirmed, especially for GPS L2 and Galileo E5a signals.