Absolute GNSS Antenna Phase Center Calibration with a Robot

Daniel Willi, Donovan Koch, Michael Meindl, Markus Rothacher

Peer Reviewed

Abstract:	GNSS antennas suffer from errors, dependent on the direction of the incoming GNSS signal. These errors can be calibrated. We present an absolute field calibration method based on a 6-axis industrial robot. The antenna to be calibrated is set-up on the robot at one end of a short baseline. The robot brings the antenna into 1440 different orientations without changing its coordinates, every orientation lasting for 1 second. The data is analyzed in a triple-difference approach. The estimated GPS L1 phase center corrections show a repeatability better than a millimeter (0.6 mm RMS). We belief that this new method is of interest to the scientific community, as only a few independent field calibration systems exits.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	3909 - 3926
Cite this article:	Willi, Daniel, Koch, Donovan, Meindl, Michael, Rothacher, Markus, "Absolute GNSS Antenna Phase Center Calibration with a Robot," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3909-3926. https://doi.org/10.33012/2018.16040
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