LAUSR

A global navigation satellite systems (GNSS) real-time kinematic (RTK) using multiple base stations is referred as an antenna array-aided RTK. This positioning method more reliably resolves carrier phase integer ambiguities by processing additional measurements provided from multiple GNSS reference stations whose antenna locations are accurately surveyed. In this study, a conventional antenna array-aided RTK is extended to improve RTK performance with multiple moving base stations. Because accurately surveyed antenna coordinates are not available, we propose an antenna array-aided Kalman filter approach to first check the sanity of the fixed integer ambiguities and baselines estimated by moving reference stations and use them as a-priori information in RTK measurement formulations. Our flight test results with three unmanned aerial vehicles confirmed that the proposed Kalman filter formulation outperformed the conventional RTK and a priori antenna array-aided RTK approaches in the aspects of positioning accuracy, time to first fix, and success probability of integer ambiguity fixes.