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  • Article
  • Open Access
14 Citations
3,432 Views
18 Pages

15 June 2023

At present, high-precision GNSS positioning technology is an important means to monitor the health of bridges and other structures. However, the GNSS signal of reference stations and monitoring stations used for bridge monitoring can easily be blocke...

  • Article
  • Open Access
4 Citations
8,002 Views
23 Pages

The automation in image acquisition and processing using UAV drones has the potential to acquire terrain data that can be utilized for the accurate production of 2D and 3D digital data. In this study, the DJI Phantom 4 drone was employed for large-sc...

  • Article
  • Open Access
1 Citations
866 Views
19 Pages

RTK-GNSS Increment Prediction with a Complementary “RTK-SeqNet” Network: Exploring Hybridization with State-Space Systems

  • Hassan Ali,
  • Malik Muhammad Waqar,
  • Ruihan Ma,
  • Sang Cheol Kim,
  • Yujun Baek,
  • Jongrin Kim and
  • Haksung Lee

14 October 2025

Accurate and reliable localization is crucial for autonomous systems operating in dynamic and semi-structured environments, such as precision agriculture and outdoor robotics. Advances in Global Navigation Satellite System (GNSS) technologies, partic...

  • Article
  • Open Access
25 Citations
4,451 Views
22 Pages

Modified RTK-GNSS for Challenging Environments

  • Ellarizza Fredeluces,
  • Tomohiro Ozeki,
  • Nobuaki Kubo and
  • Ahmed El-Mowafy

24 April 2024

Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS) is currently the premier technique for achieving centimeter-level accuracy quickly and easily. However, the robustness of RTK-GNSS diminishes in challenging environments due to severe...

  • Article
  • Open Access
39 Citations
11,419 Views
23 Pages

17 August 2019

Robust and centimeter-level Real-time Kinematic (RTK)-based Global Navigation Satellite System (GNSS) positioning is of paramount importance for emerging GNSS applications, such as drones and automobile systems. However, the performance of convention...

  • Feature Paper
  • Article
  • Open Access
10 Citations
4,296 Views
18 Pages

7 September 2020

In this paper, we propose a dynamic displacement estimation method for large-scale civil infrastructures based on a two-stage Kalman filter and modified heuristic drift reduction method. When measuring displacement at large-scale infrastructures, a n...

  • Article
  • Open Access
1 Citations
2,070 Views
18 Pages

Estimation of Surface Water Level in Coal Mining Subsidence Area with GNSS RTK and GNSS-IR

  • Yunwei Li,
  • Tianhe Xu,
  • Hai Guo,
  • Chao Sun,
  • Ying Liu,
  • Guang Gao and
  • Junwei Miao

12 October 2024

Ground subsidence caused by underground coalmining result in the formation of ponding water on the ground surface. Monitoring the surface water level is crucial for studying the hydrologic cycle in mining areas. In this paper, we propose a combined t...

  • Article
  • Open Access
1 Citations
1,524 Views
25 Pages

Design and Development of an Automatic Layout Algorithm for Laser GNSS RTK

  • Jiazhi Tang,
  • Xuan Sun,
  • Xianjian Lu,
  • Jiguang Jia and
  • Shihua Tang

9 September 2024

At the current stage, the automation level of GNSS RTK equipment is low, and manual operation leads to decreased accuracy and efficiency in setting out. To address these issues, this paper has designed an algorithm for automatic setting out that reso...

  • Article
  • Open Access
12 Citations
5,299 Views
22 Pages

GNSS RTK/UWB/DBA Fusion Positioning Method and Its Performance Evaluation

  • Shengliang Wang,
  • Xianshu Dong,
  • Genyou Liu,
  • Ming Gao,
  • Gongwei Xiao,
  • Wenhao Zhao and
  • Dong Lv

23 November 2022

As a significant space–time infrastructure, the Global Navigation Satellite System (GNSS) provides high-precision positioning, navigation, and timing (PNT) information to users all over the world. However, GNSS real-time kinematic (RTK) mobile...

  • Article
  • Open Access
23 Citations
8,888 Views
21 Pages

GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons

  • Jiachen Zhang,
  • Weisong Wen,
  • Feng Huang,
  • Yongliang Wang,
  • Xiaodong Chen and
  • Li-Ta Hsu

20 May 2022

Global Navigation Satellite System Real-time Kinematic (GNSS-RTK) is an indispensable source for the absolute positioning of autonomous systems. Unfortunately, the performance of the GNSS-RTK is significantly degraded in urban canyons, due to the not...

  • Article
  • Open Access
19 Citations
5,816 Views
23 Pages

Cooperative GNSS-RTK Ambiguity Resolution with GNSS, INS, and LiDAR Data for Connected Vehicles

  • Chuang Qian,
  • Hongjuan Zhang,
  • Wenzhuo Li,
  • Jian Tang,
  • Hui Liu and
  • Bijun Li

15 March 2020

Intelligent vehicles and connected vehicles have garnered more and more attention recently, and both require accurate positions of the vehicles in their operation, which relies on navigation sensors such as Global Navigation Satellite System (GNSS),...

  • Proceeding Paper
  • Open Access

25 February 2026

The emergence of low-cost GNSS hardware and affordable RTK correction services has made high-precision positioning more accessible. While prior studies have investigated RTK capabilities using smartphones, most rely on professional geodetic infrastru...

  • Communication
  • Open Access
2 Citations
2,220 Views
11 Pages

10 January 2025

GNSS-RTK offers numerous advantages and broad prospects in structural dynamic monitoring in civil engineering. However, in practical applications, GNSS-RTK accuracy is susceptible to the monitoring environments, causing actual monitoring accuracy to...

  • Article
  • Open Access
2 Citations
2,068 Views
29 Pages

GNSS-RTK-Based Navigation with Real-Time Obstacle Avoidance for Low-Speed Micro Electric Vehicles

  • Nuksit Noomwongs,
  • Kanin Kiataramgul,
  • Sunhapos Chantranuwathana and
  • Gridsada Phanomchoeng

Autonomous navigation for micro electric vehicles (micro EVs) operating in semi-structured environments—such as university campuses and industrial parks—requires solutions that are cost-effective, low in complexity, and robust. Traditiona...

  • Article
  • Open Access
15 Citations
5,928 Views
20 Pages

Assessment of the GNSS-RTK for Application in Precision Forest Operations

  • Hyun-Min Cho,
  • Jin-Woo Park,
  • Jung-Soo Lee and
  • Sang-Kyun Han

29 December 2023

A smart thinning operation refers to an advanced method of selecting and cutting trees to be thinned based on digitally captured forest information. In smart thinning operations, workers use the coordinates of individual trees to navigate to the targ...

  • Article
  • Open Access
31 Citations
7,348 Views
16 Pages

GNSS RTK Positioning Augmented with Large LEO Constellation

  • Xingxing Li,
  • Hongbo Lv,
  • Fujian Ma,
  • Xin Li,
  • Jinghui Liu and
  • Zihao Jiang

22 January 2019

It is widely known that in real-time kinematic (RTK) solution, the convergence and ambiguity-fixed speeds are critical requirements to achieve centimeter-level positioning, especially in medium-to-long baselines. Recently, the current status of the g...

  • Article
  • Open Access
5 Citations
2,257 Views
16 Pages

11 October 2023

During short baseline measurements in the Real-Time Kinematic Global Navigation Satellite System (GNSS-RTK), multipath error has a significant impact on the quality of observed data. Aiming at the characteristics of multipath error in GNSS-RTK measur...

  • Article
  • Open Access
83 Citations
9,199 Views
18 Pages

Multi-GNSS PPP-RTK: From Large- to Small-Scale Networks

  • Nandakumaran Nadarajah,
  • Amir Khodabandeh,
  • Kan Wang,
  • Mazher Choudhury and
  • Peter J. G. Teunissen

3 April 2018

Precise point positioning (PPP) and its integer ambiguity resolution-enabled variant, PPP-RTK (real-time kinematic), can benefit enormously from the integration of multiple global navigation satellite systems (GNSS). In such a multi-GNSS landscape, t...

  • Article
  • Open Access
49 Citations
6,566 Views
19 Pages

Assessing the Performance of Multi-GNSS PPP-RTK in the Local Area

  • Hongyang Ma,
  • Qile Zhao,
  • Sandra Verhagen,
  • Dimitrios Psychas and
  • Xianglin Liu

13 October 2020

The benefits of an increased number of global navigation satellite systems (GNSS) in space have been confirmed for the robustness and convergence time of standard precise point positioning (PPP) solutions, as well as improved accuracy when (most of)...

  • Article
  • Open Access
107 Citations
7,862 Views
17 Pages

Evaluation of the Georeferencing Accuracy of a Photogrammetric Model Using a Quadrocopter with Onboard GNSS RTK

  • Martin Štroner,
  • Rudolf Urban,
  • Tomáš Reindl,
  • Jan Seidl and
  • Josef Brouček

18 April 2020

Using a GNSS RTK (Global Navigation Satellite System Real Time Kinematic) -equipped unmanned aerial vehicle (UAV) could greatly simplify the construction of highly accurate digital models through SfM (Structure from Motion) photogrammetry, possibly e...

  • Article
  • Open Access
27 Citations
7,472 Views
14 Pages

Delineation of Agricultural Drainage Pipe Patterns Using Ground Penetrating Radar Integrated with a Real-Time Kinematic Global Navigation Satellite System

  • Barry Allred,
  • DeBonne Wishart,
  • Luis Martinez,
  • Harry Schomberg,
  • Steven Mirsky,
  • George Meyers,
  • John Elliott and
  • Christine Charyton

Better methods are needed for mapping agricultural drainage pipe systems. Prior research on small test plots indicates that ground penetrating radar (GPR) is oftentimes capable of detecting buried drainage pipes; however, the feasibility of employing...

  • Article
  • Open Access
144 Citations
9,816 Views
24 Pages

13 March 2019

Precise position, velocity, and attitude is essential for self-driving cars and unmanned aerial vehicles (UAVs). The integration of global navigation satellite system (GNSS) real-time kinematics (RTK) and inertial measurement units (IMUs) is able to...

  • Article
  • Open Access
1 Citations
856 Views
16 Pages

13 June 2025

This study focused on the monitoring of a bridge using the global navigation satellite system real-time kinematic (GNSS-RTK) sensor. An improved hybrid denoising method was developed to enhance the GNSS-RTK’s accuracy. The improved hybrid denoi...

  • Article
  • Open Access
70 Citations
9,493 Views
22 Pages

27 October 2017

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency...

  • Article
  • Open Access
3 Citations
4,009 Views
19 Pages

Improving Vehicle Positioning Performance in Urban Environment with Tight Integration of Multi-GNSS PPP-RTK/INS

  • Luguang Lai,
  • Dongqing Zhao,
  • Tianhe Xu,
  • Zhenhao Cheng,
  • Wenzhuo Guo and
  • Linyang Li

31 October 2022

Global navigation satellite system (GNSS) signals are easily blocked by urban canyons, tree-lined roads, and overpasses in urban environments, making it impossible to ensure continuous and reliable positioning using only GNSS, even with the widely us...

  • Article
  • Open Access
1,396 Views
15 Pages

Quad-Constellation RTK and Relative GNSS Using Cost-Effective Smartphone for Transportation Applications

  • Mohamed Abdelazeem,
  • Hussain A. Kamal,
  • Amgad Abazeed and
  • Mudathir O. A. Mohamed

17 October 2025

Precise kinematic positioning using low-cost android smartphones remains a significant research focus, particularly with the growing integration of Global Navigation Satellite System (GNSS) capabilities in these devices. This research explores the ac...

  • Article
  • Open Access
29 Citations
4,815 Views
22 Pages

1 September 2022

Precise point positioning (PPP) has received much attention in recent years for its low cost, high accuracy, and global coverage. Nowadays, PPP with ambiguity resolution and atmospheric augmentation is widely regarded as PPP-RTK (real-time kinematic)...

  • Article
  • Open Access
13 Citations
4,528 Views
17 Pages

Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements

  • Mariusz Specht,
  • Cezary Specht,
  • Andrzej Stateczny,
  • Paweł Burdziakowski,
  • Paweł Dąbrowski and
  • Oktawia Lewicka

2 June 2022

Currently, the primary method for determining the object coordinates is positioning using Global Navigation Satellite Systems (GNSS) supported by Inertial Navigation Systems (INS). The main goal of this solution is to ensure high positioning availabi...

  • Article
  • Open Access
1 Citations
2,398 Views
19 Pages

27 May 2023

In the classic Precise Point Positioning (PPP) approach, observations of Global Navigation Satellite Systems (GNSS) are processed at the network level to generate satellite clocks and positions. This information can be used to enable accurate point p...

  • Article
  • Open Access
16 Citations
4,027 Views
16 Pages

28 March 2019

Under the action of wind, traffic, and other influences, long-span bridges are prone to large deformation, resulting in instability and even destruction. To investigate the dynamic characteristics of a long-span concrete-filled steel tubular arch bri...

  • Article
  • Open Access
27 Citations
4,812 Views
16 Pages

24 June 2023

Global navigation satellite systems (GNSSs) provide a common positioning method that utilizes satellite signals to determine the spatial location of a receiver. However, there are several error factors in standalone GNSS positioning due to instrument...

  • Article
  • Open Access
171 Citations
16,254 Views
21 Pages

30 January 2018

The integration of Global Positioning System (GPS) real-time kinematics (RTK) and an inertial navigation system (INS) has been widely used in many applications, such as mobile mapping and autonomous vehicle control. Such applications require high-acc...

  • Article
  • Open Access
38 Citations
7,368 Views
19 Pages

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

  • Andrzej Stateczny,
  • Cezary Specht,
  • Mariusz Specht,
  • David Brčić,
  • Alen Jugović,
  • Szymon Widźgowski,
  • Marta Wiśniewska and
  • Oktawia Lewicka

7 November 2021

Hydrographic surveys, in accordance with the International Hydrographic Organization (IHO) S-44 standard, can be carried out in the following five orders: Exclusive, Special, 1a, 1b and 2, for which minimum accuracy requirements for the applied posit...

  • Article
  • Open Access
142 Citations
27,067 Views
16 Pages

Photogrammetry Using UAV-Mounted GNSS RTK: Georeferencing Strategies without GCPs

  • Martin Štroner,
  • Rudolf Urban,
  • Jan Seidl,
  • Tomáš Reindl and
  • Josef Brouček

31 March 2021

Georeferencing using ground control points (GCPs) is the most common strategy in photogrammetry modeling using unmanned aerial vehicle (UAV)-acquired imagery. With the increased availability of UAVs with onboard global navigation satellite system–rea...

  • Article
  • Open Access
12 Citations
5,727 Views
21 Pages

Full Real-Time Positioning and Attitude System Based on GNSS-RTK Technology

  • J. M. Olivart i Llop,
  • D. Moreno-Salinas and
  • J. Sánchez

24 November 2020

An accurate positioning and attitude computation of vehicles, robots, or even persons is of the utmost importance and critical for the success of many operations in multiple commercial, industrial, and research areas. However, most of these positioni...

  • Article
  • Open Access
12 Citations
3,186 Views
19 Pages

Challenging Environments for Precise Mapping Using GNSS/INS-RTK Systems: Reasons and Analysis

  • Mohammad Aldibaja,
  • Naoki Suganuma,
  • Keisuke Yoneda and
  • Ryo Yanase

19 August 2022

This paper demonstrates the weakness of GNSS/INS-RTK (GIR) systems in mapping challenging environments because of obstruction and deflection of satellite signals. Thus, it emphasizes that the strategy of mapping companies to commercially provide maps...

  • Article
  • Open Access
12 Citations
6,231 Views
19 Pages

Designing and Testing an IoT Low-Cost PPP-RTK Augmented GNSS Location Device

  • Domenico Amalfitano,
  • Matteo Cutugno,
  • Umberto Robustelli and
  • Giovanni Pugliano

19 January 2024

Nowadays, the availability of affordable multi-constellation multi-frequency receivers has broadened access to accurate positioning. The abundance of satellite signals coupled with the implementation of ground- and satellite-based correction services...

  • Article
  • Open Access
11 Citations
9,305 Views
18 Pages

22 October 2014

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human op...

  • Article
  • Open Access
102 Citations
14,171 Views
21 Pages

8 September 2020

Unmanned Aerial Vehicles (UAVs) have revolutionised the availability of high resolution topographic data in many disciplines due to their relatively low-cost and ease of deployment. Consumer-grade Real Time Kinematic Global Navigation Satellite Syste...

  • Article
  • Open Access
7 Citations
5,262 Views
17 Pages

20 September 2024

UAVs are nowadays used for several surveying activities, some of which imply flying close to tall walls, in and out of tunnels, under bridges, and so forth. In these applications, RTK GNSS positioning delivers results with very variable quality. It a...

  • Article
  • Open Access
18 Citations
5,896 Views
25 Pages

Integrity Monitoring of PPP-RTK Positioning; Part I: GNSS-Based IM Procedure

  • Kan Wang,
  • Ahmed El-Mowafy,
  • Weijin Qin and
  • Xuhai Yang

23 December 2021

Nowadays, integrity monitoring (IM) is required for diverse safety-related applications using intelligent transport systems (ITS). To ensure high availability for road transport users for in-lane positioning, a sub-meter horizontal protection level (...

  • Communication
  • Open Access
6 Citations
3,399 Views
17 Pages

30 August 2021

This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is...

  • Article
  • Open Access
21 Citations
3,739 Views
19 Pages

28 October 2020

Unmanned Surface Vehicles (USV) are increasingly used to perform numerous tasks connected with measurements in inland waters and seas. One of such target applications is hydrography, where traditional (manned) bathymetric measurements are increasingl...

  • Article
  • Open Access
12 Citations
3,246 Views
22 Pages

14 November 2023

High-resolution coastline detection and monitoring are challenging on a global scale, especially in flat areas where natural events, sea level rise, and anthropic activities constantly modify the coastal environment. While the coastline related to th...

  • Article
  • Open Access
16 Citations
3,570 Views
16 Pages

2 December 2022

Photogrammetric surveys are increasingly being carried out using Unmanned Aerial Vehicles (UAV). Steering drones along the flight profiles is one of the main factors that determines the quality of the compiled photogrammetric products. The aim of thi...

  • Article
  • Open Access
14 Citations
4,563 Views
14 Pages

16 May 2022

High-precision global navigation satellite system (GNSS) positioning and navigation can be achieved with carrier-phase ambiguity resolution when the integer least squares (ILS) success rate (SR) is high. The users typically prefer the float solution...

  • Article
  • Open Access
9 Citations
3,731 Views
22 Pages

10 August 2021

There are many car tests regulated by European and international standards and carried out on tracks to assess vehicle performance. The test preparation phase usually consists of placing road cones on the track with a specific configuration defined b...

  • Article
  • Open Access
7 Citations
2,026 Views
29 Pages

8 January 2025

The safe operation of unmanned ground vehicles (UGVs) demands fundamental and essential requirements for continuous and reliable positioning performance. Traditional coupled navigation systems, combining the global navigation satellite system (GNSS)...

  • Article
  • Open Access
37 Citations
9,845 Views
21 Pages

Instantaneous, Dual-Frequency, Multi-GNSS Precise RTK Positioning Using Google Pixel 4 and Samsung Galaxy S20 Smartphones for Zero and Short Baselines

  • Chien Zheng Yong,
  • Robert Odolinski,
  • Safoora Zaminpardaz,
  • Michael Moore,
  • Eldar Rubinov,
  • Jeremiah Er and
  • Mike Denham

13 December 2021

The recent development of the smartphone Global Navigation Satellite System (GNSS) chipsets, such as Broadcom BCM47755 and Qualcomm Snapdragon 855 embedded, makes instantaneous and cm level real-time kinematic (RTK) positioning possible with Android-...

  • Article
  • Open Access
7 Citations
4,200 Views
19 Pages

Developing countries in Asia widely use manual seed broadcasting methods due to a lack of appropriate seeding machinery. The agricultural sector is currently facing labor shortages and high labor costs, especially seasonal labor shortages for broadca...

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