Modified RTK Program for Kinematic Urban Condition

Nobuaki Kubo, Tomohiro Ozeki, Takeshi Komori

Peer Reviewed

Abstract: Real-time kinematic (RTK) processing software is very important for GNSS users, especially for students learning GNSS. Several useful open-source GNSS software packages are currently available. We have been using RTKLIB for more than 15 years in lectures and seminars and have found it a suitable tool for learning GNSS positioning as well as R&D. Here, we describe a modified RTKLIB, particularly for vehicles in urban areas, and present the experimental results. Regarding the ambiguity resolution, both the measurement and position domain approaches are used to obtain the best results. Furthermore, an effective satellite selection, including a threshold value for the pseudo-range residual test, is discussed. In our experiments, we compare the RTKs of RTKLIB, rtklibexplorer, and a typical low-cost RTK receiver, using observational data obtained by driving in an urban area in Tokyo. The commercial receiver is relatively accurate. In contrast, our modified RTKLIB and rtklibexplorer were relatively good in terms of the fix rate.
Published in: Proceedings of the 2024 International Technical Meeting of The Institute of Navigation
January 23 - 25, 2024
Hyatt Regency Long Beach
Long Beach, California
Pages: 846 - 857
Cite this article: Kubo, Nobuaki, Ozeki, Tomohiro, Komori, Takeshi, "Modified RTK Program for Kinematic Urban Condition," Proceedings of the 2024 International Technical Meeting of The Institute of Navigation, Long Beach, California, January 2024, pp. 846-857. https://doi.org/10.33012/2024.19505
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