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Heekwon No is a postdoctoral researcher in the Ecole Nationale de l'Aviation Civile (ENAC), France. He received B.S. and Ph.D.

Low-cost single frequency Real-Time Kinematics (RTK) modules have recently been released by several manufacturers. This type of receivers allows to obtain much better accuracy, reaching decimeter-level accuracy, than traditional low-cost receivers, thus opening the world of precise GNSS positioning to a new sector. However, while this type of system will provide very good relative positioning accuracy, the absolute positioning accuracy might be degraded if the position of the RTK base station is not estimated with sufficient accuracy. Any bias on the RTK base station position will introduce the same bias on the RTK rover position. This paper proposes a modification to the position estimation algorithm that includes the real-time estimation of the RTK base station position error, by combining both the Single Point Positioning Solution and the RTK solution. The algorithm is illustrated using 2 types of real data: first, for a fixed reference station using GNSS observations only, then for a moving vehicle using a sensor fusion algorithm between GNSS, inertial and odometer observations. Performance analysis shows that the bias affecting the absolute position of the RTK rover can be estimated using the proposed algorithm, decreasing the horizontal bias from a few meters to a few decimeters.

His current activities are GNSS signal processing, GNSS integrity monitoring and hybridization of GNSS with other sensors. Marion AUBAULT-ROUDIER is a Radionavigation engineer in the navigation/location signals department at CNES, the French Space Agency, where she is involved in the optimization of GNSS signals. She graduated as an electronics engineer in 2011 from ENAC (Ecole Nationale de l'Aviation Civile) in Toulouse, France. She received her PhD in 2015 from the Department of Mathematics, Computer Science and Telecommunications of the INPT (Polytechnic National Institute of Toulouse), France. Jérémy VEZINET holds a Ph.D. in multi-sensors hybridization. He is a Research Associate in the TELECOM team of ENAC in Toulouse (France) since 2014. He has been involved in several projects on multi-antenna GNSS receivers, GNSS/INS integration techniques and integrity monitoring. His research interests are GNSS, Inertial Navigation, Multi-sensor Hybridization, Integrity Monitoring and Video-Based Navigation.