Inertially-aided RTK based on tightly-coupled integration using low-cost GNSS receivers

Abstract

A highly accurate and highly reliable navigation solution is essential for many applications like autonomous driving, augmented reality, or Unmanned Aerial Vehicles (UAVs). The key technology for all these applications is the Global Navigation Satellite System (GNSS), because it allows real-time positioning with global coverage and good long-term stability. To achieve a highly accurate solution at centimeter level with GNSS sensors, sophisticated GNSS algorithms like Real-Time Kinematics (RTK) must be used.