OCTOPUS: Multi antennae GPS/GLONASS RTK System

摘要

The real time kinematic system for preciserncarrier phase differential processing of the measurementsrnfrom several dual band dual systems JPS receivers is con-sideredrnin the paper.rnThe system is composed of four JPS Eurocard receivers ex-changingrnwith measurements and results of processing.rnThe system is based on the general purpose kinematic engine.rnIt includes carrier phase differential ambiguity filter, on-the-flyrnambiguity resolution, coordinates and velocity estimators.rnThe system has two options: (i) free processing or moni-toring,rn(ii) attitude determination. First option supposesrnseveral kinematic RTK’s working simultaneously, whilernunder second option the whole antennae array is sup-posedrnto move as a rigid body. The second option appliesrnadditional geometry constraints due to the constant be-tweenrnantennae distances.rnThe paper is organized the following way. The architec-turernis discussed at first. Then the methods are described.rnThe performance results illustrating special features ofrnthe system are included into the text where description ofrnthe features comes. Mathematical details are placed in thernAppendixes.