“…Buoys equipped with GPS receivers have been used to measure water levels, atmospheric parameter and other physical conditions in sea, river or lake for the purposes of navigation, tide correction, the altimeter range calibration, ocean environment and pollution monitoring, flood control, and fisheries (Rocken et al 1990, Key et al 1998, Moore et al 2000. For high positioning accuracy applications, the relative positioning RTK technique is widely adopted in most of GPS buoy positioning.…”