Demonstration of Fused RTK (Fixed) + Inertial Positioning Using Android Smartphone Sensors Only

Mohamed Bochkati, Himanshu Sharma, Christian A. Lichtenberger, Thomas Pany

Abstract: This paper describes several experiments related to centimeter accurate positioning using the build-in GNSS receiver and inertial measurement unit (IMU) of a dual-frequency commercial smartphone. Using a choke-ring antenna platform to shield the smartphone from the ground multipath we were able to obtain a GNSS carrier phase (GPS+Galileo L1/L5) solution with good fixed ambiguities and approx. 2 centimeter precision. Furthermore, the GNSS antenna phase center (APC) within the smartphone was determined. An Allan variance analysis of the inertial measurement unit shows an unexpected good gyro bias instability of approx. 15 deg/h. An integrated real-time kinematic (RTK) GNSS+IMU solution was computed and a heuristic sensitivity analysis was performed.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 1140 - 1154
Cite this article: Bochkati, Mohamed, Sharma, Himanshu, Lichtenberger, Christian A., Pany, Thomas, "Demonstration of Fused RTK (Fixed) + Inertial Positioning Using Android Smartphone Sensors Only," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 1140-1154.
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