RTK position solution performance of compact, low-cost GNSS receiver-antenna combinations

GNSS RTK provides precise positions in real time. This work presents a detailed performance analysis of five compact GNSS modules and four antennas used as GPS RTK Rovers over a medium baseline length. Better than 50 cm accuracy in 2- and 3-dimension is obtained within the hardware cost 200–400 USD, while sub-10 cm accuracy is achievable using dual frequency compact GNSS modules for around 1200 USD. This work also presents the comparable performance of the compact GNSS modules to their geodetic counterpart and strong antenna dependence on the solution quality. The results would be helpful for RTK popularisation.