Enhancing GNSS RTK Solutions with Random Sample Consensus

Abstract

Precise positioning with Global Navigation Satellite Systems (GNSS) can be achieved by using the real-time kinematic (RTK) solution. A GNSS RTK solution was improved using an innovative approach based on Random Sample Consensus (RANSAC). RANSAC pre-filters carrier phase measurements based on the inherent consistency among GNSS satellites. This method improves the reliability and accuracy of an RTK system with low-cost receivers and antennas, especially in a GNSS-challenged environment. In this work, the integration of RANSAC and RTK is demonstrated with recorded live GNSS data.