31:
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In practice, RTK systems use a single base-station receiver and a number of mobile units. The base station re-broadcasts the phase of the carrier that it observes, and the mobile units compare their own phase measurements with the one received from the base station. There are several ways to transmit
124:
contained in the signal to an internally generated pseudorandom binary sequence. Since the satellite signal takes time to reach the receiver, the satellite's sequence is delayed in relation to the receiver's sequence. By increasingly delaying the receiver's sequence, the two sequences are eventually
236:
extend the use of RTK to a larger area containing a network of reference stations. Operational reliability and accuracy depend on the density and capabilities of the reference-station network. With network RTK, accuracy of 8mm + 0.5ppm horizontal and 15mm + 0.5 ppm vertical relative to the nearest
162:
As described in the previous section, the range to a satellite is essentially calculated by multiplying the carrier wavelength times the number of whole cycles between the satellite and the rover and adding the phase difference. Determining the number of cycles is non-trivial, since signals may be
213:
position to within millimeters, although their absolute position is accurate only to the same accuracy as the computed position of the base station. For RTK with a single base station, accuracy of 8mm + 1ppm (parts per million / 1mm per km) horizontal and 15mm + 1ppm vertical relative to the base
244:(CORS) network is a network of RTK base stations that broadcast corrections, usually over an Internet connection. Accuracy is increased in a CORS network, because more than one station helps ensure correct positioning and guards against a false initialization of a single base station.
263:
phase differences (or corrects their raw data) and performs the data processing using the differential corrections. In contrast, GNSS network architectures often make use of multiple reference stations. This approach allows a more precise modeling of distance-dependent
171:
The improvement possible using this technique is potentially very high if one continues to assume a 1% accuracy in locking. For instance, in the case of GPS, the coarse-acquisition (C/A) code, which is broadcast in the L1 signal, changes
176:
at 1.023 MHz, but the L1 carrier itself is 1575.42 MHz, which changes phase over a thousand times more often. A ±1% error in L1 carrier-phase measurement thus corresponds to a ±1.9 mm error in baseline estimation.
217:
Although these parameters limit the usefulness of the RTK technique for general navigation, the technique is perfectly suited to roles like surveying. In this case, the base station is located at a known surveyed location, often a
167:
problem results in centimeter precision. The error can be reduced with sophisticated statistical methods that compare the measurements from the C/A signals and by comparing the resulting ranges between multiple satellites.
128:
The accuracy of the resulting range measurement is essentially a function of the ability of the receiver's electronics to accurately process signals from the satellite, and additional error sources such as non-mitigated
214:
station can be achieved, depending on the device. For example, with a base station 16 km (slightly less than 10 miles) away, relative horizontal error would be 8mm + 16mm = 24mm (slightly less than an inch).
119:
The distance between a satellite navigation receiver and a satellite can be calculated from the time it takes for a signal to travel from the satellite to the receiver. To calculate the delay, the receiver must align a
237:
station can be achieved, depending on the device. For example, with a base station 16 km (slightly less than 10 miles) away, relative horizontal error would be 8mm + 8mm = 16mm (roughly 5/8 of an inch).
163:
shifted in phase by one or more cycles. This results in an error equal to the error in the estimated number of cycles times the wavelength, which is 19 cm for the L1 signal. Solving this so-called
159:
as its signal, ignoring the information contained within. RTK uses a fixed base station and a rover to reduce the rover's position error. The base station transmits correction data to the rover.
255:(VRS), instead. The concept can help to satisfy this requirement using a network of reference stations. A typical CORS setup consists of a single reference station from which the
61:
in addition to the information content of the signal and relies on a single reference station or interpolated virtual station to provide real-time corrections, providing up to
884:
859:
828:
294:
697:
532:
222:, and the mobile units can then produce a highly accurate map by taking fixes relative to that point. RTK has also found uses in autodrive/autopilot systems,
844:
745:
869:
206:
equipment has a built-in UHF-band radio modem as a standard option. RTK provides accuracy enhancements up to about 20 km from the base station.
503:
RIETDORF, Anette; DAUB, Christopher; LOEF, Peter (2006). "Precise
Positioning in Real-Time using Navigation Satellites and Telecommunication".
194:
a correction signal from base station to mobile station. The most popular way to achieve real-time, low-cost signal transmission is to use a
854:
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833:
690:
424:
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615:
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errors. More specifically, a GNSS network decreases the dependence of the error budget on the distance of nearest antenna.
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768:
750:
683:
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874:
773:
440:
Weiffenbach, G. C. (1967-12-31), "Tropospheric and
Ionospheric Propagation Effects on Satellite Radio-Doppler Geodesy",
121:
106:
30:
760:
472:
34:
A surveyor uses a GNSS receiver with an RTK solution to accurately locate a parking stripe for a topographic survey.
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300:
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17:
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347:"Feasibility of Providing High-Precision GNSS Correction Data through Non-Terrestrial Networks"
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820:
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778:
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134:
445:
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202:. In most countries, certain frequencies are allocated specifically for RTK purposes. Most
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387:
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259:(or corrections) are sent to the rover receiver (i.e., the user). The user then forms the
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992:
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73:). With reference to GPS in particular, the system is commonly referred to as
62:
663:
372:
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27:
Satellite navigation technique used to enhance the precision of position data
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967:
952:
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PROCEEDINGS OF THE 3rd WORKSHOP ON POSITIONING, NAVIGATION AND COMMUNICATION
203:
138:
82:
46:
654:
Global Map
Coverage of Ground Based Augmentation Reference Beacons (GBAS).
251:(VRN) can similarly enhance precision without using a base station, using
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838:
807:
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256:
199:
977:
735:
675:
310:
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RTK follows the same general concept, but uses the satellite signal's
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315:
645:
921:
590:
US Department of
Commerce, NOAA; US Department of Commerce, NOAA.
325:
320:
184:
110:
29:
660:
User
Guidelines for Single Base Real Time GNSS Positioning (NOAA)
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679:
648:
Global
Network of Continuously Operating Reference Stations.
345:
Boquet, Guillem; Vilajosana, Xavi; Martinez, Borja (2024).
666:
Manual to integrate RTK Receivers into UAVs and
Robotics
672:
An article by people involved in the early days of RTK
642:
GNSS, RTK and
Satellite Positioning concepts in depth.
473:"Geo-Positioning, GPS, DGPS, and Positioning Accuracy"
533:"Datasheet - Trimble R12 GNSS System - English (US)"
351:
1016:
935:
909:
893:
819:
792:
759:
713:
444:, University of Toronto Press, pp. 339–352,
295:European Geostationary Navigation Overlay Service
691:
8:
698:
684:
676:
592:"National Geodetic Survey - CORS Homepage"
512:
362:
209:This allows the units to calculate their
242:Continuously Operating Reference Station
49:to correct for common errors in current
18:Continuously operating reference station
337:
623:Colorado Department of Transportation
53:systems. It uses measurements of the
7:
526:
524:
442:Electromagnetic Distance Measurement
562:"RTK Networks – What, Why, Where?"
25:
137:, multipath, satellite clock and
39:Real-time kinematic positioning
1:
1024:Geographic information system
769:Personal navigation assistant
531:Trimble Inc. (October 2020).
419:. Artech House. p. 102.
388:"Introduction to Network RTK"
774:Automotive navigation system
122:pseudorandom binary sequence
107:GNSS positioning calculation
51:satellite navigation (GNSS)
1101:
571:. USSLS/CGSIC Meeting 2009
301:Galileo positioning system
253:virtual reference stations
151:GPS carrier-phase tracking
148:
100:
1075:Global Positioning System
450:10.3138/9781442631823-030
394:. IAG Working Group 4.5.1
306:Global Positioning System
249:Virtual Reference Network
81:. It has applications in
75:carrier-phase enhancement
413:Mannings, Robin (2008).
364:10.1109/TIM.2024.3453319
181:Practical considerations
165:integer ambiguity search
45:) is the application of
228:machine control systems
91:unmanned aerial vehicle
416:Ubiquitous Positioning
268:principally caused by
190:
145:Carrier-phase tracking
116:
87:hydrographic surveying
35:
1070:Geomatics engineering
640:RTK Detailed Concepts
188:
114:
33:
1080:Real-time technology
707:Satellite navigation
616:"CDOT Survey Manual"
485:on November 22, 2009
386:Wanninger, Lambert.
1049:GPS animal tracking
936:Geographic services
230:and similar roles.
198:, typically in the
135:tropospheric delays
560:Gakstatter, Eric.
191:
117:
36:
1085:Wireless locating
1057:
1056:
821:GNSS augmentation
276:refractions, and
266:systematic errors
224:precision farming
16:(Redirected from
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865:QZSS / Michibiki
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596:www.ngs.noaa.gov
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478:. Archived from
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290:Differential GPS
57:of the signal's
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1039:Geoinformatics
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1017:Related topics
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670:History of RTK
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634:External links
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746:IRNSS / NAVIC
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958:Google Earth
926:
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599:. Retrieved
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573:. Retrieved
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543:. Retrieved
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504:
498:
487:. Retrieved
480:the original
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441:
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396:. Retrieved
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274:tropospheric
252:
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157:carrier wave
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93:navigation.
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59:carrier wave
42:
38:
37:
1008:Yandex Maps
1003:Yahoo! Maps
998:ViaMichelin
963:Google Maps
804:SiRFatlasIV
800:SiRFstarIII
779:GPS tracker
575:14 February
569:www.gps.gov
398:14 February
270:ionospheric
234:Network RTK
204:land-survey
196:radio modem
131:ionospheric
115:RTK concept
103:GPS signals
1064:Categories
1029:Geocaching
988:Petal Maps
948:Baidu Maps
943:Apple Maps
910:Technology
784:GPS logger
658:Guidelines
601:2018-12-11
489:2006-06-20
332:References
149:See also:
101:See also:
97:Background
63:centimetre
1044:Geomatics
1034:Geocoding
968:Here WeGo
953:Bing Maps
894:Protocols
841:(retired)
509:CiteSeerX
373:0018-9456
220:benchmark
189:RTK setup
139:ephemeris
125:aligned.
89:, and in
47:surveying
973:MapQuest
875:StarFire
870:SouthPAN
793:Chipsets
652:GBAS Map
646:CORS Map
545:March 3,
357:: 1–15.
284:See also
257:raw data
211:relative
200:UHF Band
141:errors.
67:accuracy
978:OpenCPN
761:Devices
736:GLONASS
731:Galileo
714:Systems
625:. 2021.
540:Trimble
311:GLONASS
297:(EGNOS)
261:carrier
65:-level
721:BeiDou
511:
456:
423:
371:
316:BeiDou
922:S-GPS
917:A-GPS
860:NTRIP
845:JPALS
839:GPS·C
834:GAGAN
829:EGNOS
726:DORIS
619:(PDF)
565:(PDF)
536:(PDF)
483:(PDF)
476:(PDF)
326:NTRIP
321:NavIC
174:phase
79:CPGPS
77:, or
69:(see
55:phase
901:NMEA
885:SDCM
880:WAAS
855:MSAS
850:LAAS
751:QZSS
577:2018
547:2024
454:ISBN
421:ISBN
400:2018
369:ISSN
272:and
133:and
105:and
71:DGPS
927:RTK
808:MTK
741:GPS
446:doi
359:doi
43:RTK
1066::
621:.
594:.
567:.
538:.
523:^
507:.
452:,
390:.
367:.
355:73
353:.
349:.
247:A
240:A
226:,
85:,
699:e
692:t
685:v
604:.
579:.
549:.
517:.
492:.
448::
429:.
402:.
375:.
361::
41:(
20:)
Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
