Improvement of RTK-GNSS using Multiple Antennas and Receivers

Although the global navigation satellite system (GNSS) is a widely used technology for various purposes such as autonomous driving, machine control, and construction sites, its accuracy is degraded in multipath environments, such as dense urban areas. In particular, the non-line of sight (NLOS) signal has a large multipath error. Various positioning methods, which are less affected by multipath errors, have been proposed. Integration with GNSS and other external sensors, such as inertial measurement units (IMU) and speed sensors, has been one of the most widely used methods to improve positioning accuracy. Although various integrated positioning methods have been proposed, such as loosely coupled and tightly coupled integration, the most important factor for GNSS positioning accuracy is integration. This study clarifies the benefits of using multiple GNSS antennas and receivers in GNSS positioning and loosely coupled integration with GNSS, IMU, and speed sensors compared to the use of single GNSS antennas and receivers.