Real-time kinematic positioning of UAS- possibilities and restrictions

Abstract

A pair of RTK capable GNSS receivers (Emlid Reach) and related software (RTKLIB) are used in order to get better position estimates for UAS (unmanned aircraft system) applications. Necessary correction data are either sent in real-time between the receivers through a network realized by two Raspberry Pis or downloaded after a flight for post-processing. Performed test on the ground show an accuracy and precision of a few centimetres when raw data was post-processed. Ground based tests were performed with a professional grade RTK receiver as reference or with the tested receiver moving in a known pattern. The used software reports good results in for flight tests but that has not been verified due to lack of a moving reference. A simple application for UAS and RTK was achieved and demonstrated.