Real Time Precise Relative Positioning with Moving Multiple Reference Receivers

The stationary reference receiver with precisely known coordinates is difficult to establish in some special real-time relative positioning applications. To improve the relative position estimation accuracy and the reliability simultaneously for the RTK without a precisely known reference receiver, multiple receivers mounted on a moving platform are used as the base station. A code and phase measurement fusion model is proposed to reduce the communication burden and generate measurements at any virtual position where it is inconvenient to install the GPS receiver. To keep the integer property of the ambiguity of fused phase measurements, the RTK method with the moving reference receivers is proposed by implementing the integer ambiguity transformation and error absorption strategy based on the known geometry of multiple receivers. Static and kinematic experiments were carried out to evaluate the performance of the proposed relative positioning method. When compared with the single-receiver solution, static results have shown that the proposed method can improve position accuracy by 15.9% and 15.7% for the horizontal and the vertical component, respectively. The kinematic results have shown that the proposed method can achieve position accuracy enhancement by 26.9% for the vertical component.