The objective of this research is to assess positioning accuracy of a custom-built RTK (Real Time Kinematic) base station. Setting up a RTK base station with open-source tools is rather straightforward process requiring only few components and basic programming skills. The base station and receiver unit were developed by using a SparkFun GPS-RTK2 Board with U-Blox ZED-F9P module. The board was paired with U-blox Multi band GNSS (Global Navigation Satellite System) antenna. The board can use GNSS satellite signals from Galileo, BeiDou, Glonass and GPS systems. The positioning accuracy was evaluated in a fixed position and during operations in agricultural fields. The RTK correction signal was used in connection with soil scanning measurements in different crop fields of the Viikki Research Farm of the University of Helsinki. For accuracy assessment, comparative measurements were carried out with a commercial network RTK (NRTK) correction signal. The vertical and horizontal accuracy of the positioning signal were evaluated based on the accuracy variables calculated by the receiver. The vertical accuracy was also evaluated by mapping the scanned trajectories on the height map which was obtained from NSL (National Land Survey of Finland) open map data service. The custom-built RTK positioning system accuracy was considered generally precise enough for autonomous field work, but the reliability of the observed accuracy should be confirmed with more extensive measurements. The commercial NRTK signal accuracy was considered very good and reliable also for the vertical direction.
The objective of this research is to assess positioning accuracy of a custom-built RTK (Real Time Kinematic) base station. Setting up a RTK base station with open-source tools is rather straightforward process requiring only few components and basic programming skills. The base station and receiver unit were developed by using a SparkFun GPS-RTK2 Board with U-Blox ZED-F9P module. The board was paired with U-blox Multi band GNSS (Global Navigation Satellite System) antenna. The board can use GNSS satellite signals from Galileo, BeiDou, Glonass and GPS systems. The positioning accuracy was evaluated in a fixed position and during operations in agricultural fields. The RTK correction signal was used in connection with soil scanning measurements in different crop fields of the Viikki Research Farm of the University of Helsinki. For accuracy assessment, comparative measurements were carried out with a commercial network RTK (NRTK) correction signal. The vertical and horizontal accuracy of the positioning signal were evaluated based on the accuracy variables calculated by the receiver. The vertical accuracy was also evaluated by mapping the scanned trajectories on the height map which was obtained from NSL (National Land Survey of Finland) open map data service. The custom-built RTK positioning system accuracy was considered generally precise enough for autonomous field work, but the reliability of the observed accuracy should be confirmed with more extensive measurements. The commercial NRTK signal accuracy was considered very good and reliable also for the vertical direction.