Advanced GNSS RTK and GNSS Heading in Single OEM Board: Algorithms and Performance

A. Boriskin, G. Zyryanov

Abstract:	Some GNSS applications (Machine control, Marine) often require cm level position and sub-degree heading simultaneously. The first task is usually achieved by conventional fixed ambiguity Real Time Kinematic (RTK) rover function against stationary remote RTK base or Network. The second task is achieved by running heading engine against nearby sensor/antenna acting as moving base. Heading function can be considered as particular case of fixed ambiguity RTK because heading determination also requires for correct resolving Double Difference (DD) carrier phase integer ambiguity. To get position and heading solution in single unit, one has to process two independent differential streams (one from remote base/Network, the other from nearby sensor) and run two independent RTK engines. Very often position and heading solutions are required with high update rates (e.g. 20 Hz) which can lead to high computation load when two differential processors and two RTK engines work simultaneously. Given paper describes the above solution implemented in Magellan Pro MB500™ OEM board. We make an accent on the following advanced features: · Usage GPS+GLONASS+SBAS constellation for both RTK position and heading determination; · Specific of GNSS RTK against moving base with different standardized protocols; · The benefit one can get in heading solutions when using Magellan Pro proprietary compact ATOM™ protocol; · The effective heading baseline calibration On- The-Fly which does not require any non-GPS instruments The paper provides Time To First Fix (TTFF) statistic for different MB500 operation modes including heading baseline calibration. Statistic figures are provided for different GNSS configurations (from GPS only up to complete GNSS) and different band configurations (from L1 only to L1/L2). It is concluded that in many cases, nearby sensor for heading function can be L1 only receiver without noticeable loss in final performance. This reduces the cost, size, and power consumption of complete RTK + heading solution.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	715 - 722
Cite this article:	Boriskin, A., Zyryanov, G., "Advanced GNSS RTK and GNSS Heading in Single OEM Board: Algorithms and Performance," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 715-722.
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