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الحقيقي" data-language-autonym="العربية" data-language-local-name="Arabic" class="interlanguage-link-target"><span>العربية</span></a></li><li class="interlanguage-link interwiki-de mw-list-item"><a href="https://de.wikipedia.org/wiki/Echtzeitkinematik" title="Echtzeitkinematik – German" lang="de" hreflang="de" data-title="Echtzeitkinematik" data-language-autonym="Deutsch" data-language-local-name="German" class="interlanguage-link-target"><span>Deutsch</span></a></li><li class="interlanguage-link interwiki-et mw-list-item"><a href="https://et.wikipedia.org/wiki/RTK" title="RTK – Estonian" lang="et" hreflang="et" data-title="RTK" data-language-autonym="Eesti" data-language-local-name="Estonian" class="interlanguage-link-target"><span>Eesti</span></a></li><li class="interlanguage-link interwiki-es mw-list-item"><a href="https://es.wikipedia.org/wiki/RTK_(navegaci%C3%B3n)" title="RTK (navegación) – Spanish" lang="es" hreflang="es" data-title="RTK (navegación)" data-language-autonym="Español" data-language-local-name="Spanish" class="interlanguage-link-target"><span>Español</span></a></li><li class="interlanguage-link interwiki-fr mw-list-item"><a href="https://fr.wikipedia.org/wiki/Cin%C3%A9matique_temps_r%C3%A9el" title="Cinématique temps réel – French" lang="fr" hreflang="fr" data-title="Cinématique temps réel" data-language-autonym="Français" data-language-local-name="French" class="interlanguage-link-target"><span>Français</span></a></li><li class="interlanguage-link interwiki-it mw-list-item"><a href="https://it.wikipedia.org/wiki/Cinematica_in_tempo_reale" title="Cinematica in tempo reale – Italian" lang="it" hreflang="it" data-title="Cinematica in tempo reale" data-language-autonym="Italiano" data-language-local-name="Italian" class="interlanguage-link-target"><span>Italiano</span></a></li><li class="interlanguage-link interwiki-nl mw-list-item"><a href="https://nl.wikipedia.org/wiki/RTK" title="RTK – Dutch" lang="nl" hreflang="nl" 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Kinematic</a>)</span></div></div> <div id="mw-content-text" class="mw-body-content"><div class="mw-content-ltr mw-parser-output" lang="en" dir="ltr"><div class="shortdescription nomobile noexcerpt noprint searchaux" style="display:none">Satellite navigation technique used to enhance the precision of position data</div> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/b/be/Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg/220px-Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg" decoding="async" width="220" height="330" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/b/be/Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg/330px-Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/b/be/Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg/440px-Surveyor_Using_GNSS_Receiver_with_RTK_Solution.jpg 2x" data-file-width="2779" data-file-height="4170" /></a><figcaption>A surveyor uses a GNSS receiver with an RTK solution to accurately locate a parking stripe for a topographic survey.</figcaption></figure> <p><b>Real-time kinematic positioning</b> (<b>RTK</b>) is the application of <a href="/wiki/Surveying" title="Surveying">surveying</a> to correct for common errors in current <a href="/wiki/Satellite_navigation" title="Satellite navigation">satellite navigation (GNSS)</a> systems.<sup id="cite_ref-1" class="reference"><a href="#cite_note-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> It uses measurements of the <a href="/wiki/Phase_(waves)" title="Phase (waves)">phase</a> of the signal's <a href="/wiki/Carrier_wave" title="Carrier wave">carrier wave</a> in addition to the information content of the signal and relies on a single reference station or interpolated virtual station to provide real-time corrections, providing up to <a href="/wiki/Centimetre" title="Centimetre">centimetre</a>-level <a href="/wiki/Accuracy_and_precision" title="Accuracy and precision">accuracy</a> (see <a href="/wiki/Differential_GPS" title="Differential GPS">DGPS</a>).<sup id="cite_ref-Wanninger2008_2-0" class="reference"><a href="#cite_note-Wanninger2008-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> With reference to GPS in particular, the system is commonly referred to as <b>carrier-phase enhancement</b>, or <b>CPGPS</b>.<sup id="cite_ref-ubiquitous_3-0" class="reference"><a href="#cite_note-ubiquitous-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> It has applications in <a href="/wiki/Surveying" title="Surveying">land surveying</a>, <a href="/wiki/Hydrographic_survey" title="Hydrographic survey">hydrographic surveying</a>, and in <a href="/wiki/Unmanned_aerial_vehicle" title="Unmanned aerial vehicle">unmanned aerial vehicle</a> navigation. </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Background">Background</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Real-time_kinematic_positioning&action=edit&section=1" title="Edit section: Background"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1236090951">.mw-parser-output .hatnote{font-style:italic}.mw-parser-output div.hatnote{padding-left:1.6em;margin-bottom:0.5em}.mw-parser-output .hatnote i{font-style:normal}.mw-parser-output .hatnote+link+.hatnote{margin-top:-0.5em}@media print{body.ns-0 .mw-parser-output .hatnote{display:none!important}}</style><div role="note" class="hatnote navigation-not-searchable">See also: <a href="/wiki/GPS_signals" title="GPS signals">GPS signals</a> and <a href="/wiki/GNSS_positioning_calculation" class="mw-redirect" title="GNSS positioning calculation">GNSS positioning calculation</a></div> <figure class="mw-default-size mw-halign-right" typeof="mw:File/Thumb"><a href="/wiki/File:Real_time_kinematic.svg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/d/d3/Real_time_kinematic.svg/220px-Real_time_kinematic.svg.png" decoding="async" width="220" height="161" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/d/d3/Real_time_kinematic.svg/330px-Real_time_kinematic.svg.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/d/d3/Real_time_kinematic.svg/440px-Real_time_kinematic.svg.png 2x" data-file-width="889" data-file-height="652" /></a><figcaption> RTK concept</figcaption></figure> <p>The distance between a satellite navigation receiver and a satellite can be calculated from the time it takes for a signal to travel from the satellite to the receiver. To calculate the delay, the receiver must align a <a href="/wiki/Pseudorandom_binary_sequence" title="Pseudorandom binary sequence">pseudorandom binary sequence</a> contained in the signal to an internally generated pseudorandom binary sequence. Since the satellite signal takes time to reach the receiver, the satellite's sequence is delayed in relation to the receiver's sequence. By increasingly delaying the receiver's sequence, the two sequences are eventually aligned. </p><p>The accuracy of the resulting range measurement is essentially a function of the ability of the receiver's electronics to accurately process signals from the satellite, and additional error sources such as non-mitigated <a href="/wiki/Ionosphere" title="Ionosphere">ionospheric</a> and <a href="/wiki/Radio_propagation" title="Radio propagation">tropospheric delays</a>, multipath, satellite clock and <a href="/wiki/Ephemeris" title="Ephemeris">ephemeris</a> errors.<sup id="cite_ref-4" class="reference"><a href="#cite_note-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Carrier-phase_tracking">Carrier-phase tracking</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Real-time_kinematic_positioning&action=edit&section=2" title="Edit section: Carrier-phase tracking"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1236090951"><div role="note" class="hatnote navigation-not-searchable">See also: <a href="/wiki/GNSS_enhancement#Carrier-phase_tracking_(surveying)" title="GNSS enhancement">GPS carrier-phase tracking</a></div> <p>RTK follows the same general concept, but uses the satellite signal's <a href="/wiki/Carrier_wave" title="Carrier wave">carrier wave</a> as its signal, ignoring the information contained within. RTK uses a fixed base station and a rover to reduce the rover's position error. The base station transmits correction data to the rover. </p><p>As described in the previous section, the range to a satellite is essentially calculated by multiplying the carrier wavelength times the number of whole cycles between the satellite and the rover and adding the phase difference. Determining the number of cycles is non-trivial, since signals may be shifted in phase by one or more cycles. This results in an error equal to the error in the estimated number of cycles times the wavelength, which is 19 cm for the L1 signal. Solving this so-called <b>integer ambiguity search</b> problem results in centimeter precision. The error can be reduced with sophisticated statistical methods that compare the measurements from the C/A signals and by comparing the resulting ranges between multiple satellites. </p><p>The improvement possible using this technique is potentially very high if one continues to assume a 1% accuracy in locking. For instance, in the case of GPS, the coarse-acquisition (C/A) code, which is broadcast in the L1 signal, changes <a href="/wiki/Phase_(waves)" title="Phase (waves)">phase</a> at 1.023 MHz, but the L1 carrier itself is 1575.42 MHz, which changes phase over a thousand times more often. A ±1% error in L1 carrier-phase measurement thus corresponds to a ±1.9 mm error in baseline estimation.<sup id="cite_ref-precisionag.org_5-0" class="reference"><a href="#cite_note-precisionag.org-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Practical_considerations"><span class="anchor" id="CORS"></span>Practical considerations</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Real-time_kinematic_positioning&action=edit&section=3" title="Edit section: Practical considerations"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-default-size mw-halign-right" typeof="mw:File/Thumb"><a href="/wiki/File:SparkFun_RTK_Surveying_Kit_(51635467766).jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/3/3a/SparkFun_RTK_Surveying_Kit_%2851635467766%29.jpg/220px-SparkFun_RTK_Surveying_Kit_%2851635467766%29.jpg" decoding="async" width="220" height="220" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/3/3a/SparkFun_RTK_Surveying_Kit_%2851635467766%29.jpg/330px-SparkFun_RTK_Surveying_Kit_%2851635467766%29.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/3/3a/SparkFun_RTK_Surveying_Kit_%2851635467766%29.jpg/440px-SparkFun_RTK_Surveying_Kit_%2851635467766%29.jpg 2x" data-file-width="600" data-file-height="600" /></a><figcaption>RTK setup</figcaption></figure> <p>In practice, RTK systems use a single base-station receiver and a number of mobile units. The base station re-broadcasts the phase of the carrier that it observes, and the mobile units compare their own phase measurements with the one received from the base station. There are several ways to transmit a correction signal from base station to mobile station. The most popular way to achieve real-time, low-cost signal transmission is to use a <a href="/wiki/Radio_modem" title="Radio modem">radio modem</a>, typically in the <a href="/wiki/UHF_Band" class="mw-redirect" title="UHF Band">UHF Band</a>. In most countries, certain frequencies are allocated specifically for RTK purposes. Most <a href="/wiki/Surveying" title="Surveying">land-survey</a> equipment has a built-in UHF-band radio modem as a standard option. RTK provides accuracy enhancements up to about 20 km from the base station.<sup id="cite_ref-RIETDORF2006_6-0" class="reference"><a href="#cite_note-RIETDORF2006-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup> </p><p>This allows the units to calculate their <i>relative</i> position to within millimeters, although their absolute position is accurate only to the same accuracy as the computed position of the base station. For RTK with a single base station, accuracy of 8mm + 1ppm (parts per million / 1mm per km) horizontal and 15mm + 1ppm vertical relative to the base station can be achieved, depending on the device.<sup id="cite_ref-:0_7-0" class="reference"><a href="#cite_note-:0-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup>  For example, with a base station 16 km (slightly less than 10 miles) away, relative horizontal error would be 8mm + 16mm = 24mm (slightly less than an inch). </p><p>Although these parameters limit the usefulness of the RTK technique for general navigation, the technique is perfectly suited to roles like surveying. In this case, the base station is located at a known surveyed location, often a <a href="/wiki/Benchmark_(surveying)" title="Benchmark (surveying)">benchmark</a>, and the mobile units can then produce a highly accurate map by taking fixes relative to that point. RTK has also found uses in autodrive/autopilot systems, <a href="/wiki/Precision_farming" class="mw-redirect" title="Precision farming">precision farming</a>, <a href="/wiki/Machine_control" title="Machine control">machine control systems</a> and similar roles. </p><p><b>Network RTK</b> extend the use of RTK to a larger area containing a network of reference stations.<sup id="cite_ref-Gakstatter2009_8-0" class="reference"><a href="#cite_note-Gakstatter2009-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup> Operational reliability and accuracy depend on the density and capabilities of the reference-station network. With network RTK, accuracy of 8mm + 0.5ppm horizontal and 15mm + 0.5 ppm vertical relative to the nearest station can be achieved, depending on the device.<sup id="cite_ref-:0_7-1" class="reference"><a href="#cite_note-:0-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> For example, with a base station 16 km (slightly less than 10 miles) away, relative horizontal error would be 8mm + 8mm = 16mm (roughly 5/8 of an inch). </p><p>A <b>Continuously Operating Reference Station</b> (CORS) network is a network of RTK base stations that broadcast corrections, usually over an Internet connection. Accuracy is increased in a CORS network, because more than one station helps ensure correct positioning and guards against a false initialization of a single base station.<sup id="cite_ref-9" class="reference"><a href="#cite_note-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> </p><p>A <b>Virtual Reference Network</b> (VRN) can similarly enhance precision without using a base station,<sup id="cite_ref-10" class="reference"><a href="#cite_note-10"><span class="cite-bracket">[</span>10<span class="cite-bracket">]</span></a></sup> using <b>virtual reference stations</b> (VRS), instead. The concept can help to satisfy this requirement using a network of reference stations. A typical CORS setup consists of a single reference station from which the <a href="/wiki/Raw_data" title="Raw data">raw data</a> (or corrections) are sent to the rover receiver (i.e., the user). The user then forms the <a href="/wiki/Carrier_signal" class="mw-redirect" title="Carrier signal">carrier</a> phase differences (or corrects their raw data) and performs the data processing using the differential corrections. In contrast, GNSS network architectures often make use of multiple reference stations. This approach allows a more precise modeling of distance-dependent <a href="/wiki/Observational_error" title="Observational error">systematic errors</a> principally caused by <a href="/wiki/Ionosphere" title="Ionosphere">ionospheric</a> and <a href="/wiki/Troposphere" title="Troposphere">tropospheric</a> refractions, and <a href="/wiki/Satellite_orbit" class="mw-redirect" title="Satellite orbit">satellite orbit</a> errors. More specifically, a GNSS network decreases the dependence of the error budget on the distance of nearest antenna. </p> <div class="mw-heading mw-heading2"><h2 id="See_also">See also</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Real-time_kinematic_positioning&action=edit&section=4" title="Edit section: See also"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Differential_GPS" title="Differential GPS">Differential GPS</a></li> <li><a href="/wiki/European_Geostationary_Navigation_Overlay_Service" title="European Geostationary Navigation Overlay Service">European Geostationary Navigation Overlay Service</a> (EGNOS)</li> <li><a href="/wiki/Galileo_positioning_system" class="mw-redirect" title="Galileo positioning system">Galileo positioning system</a></li> <li><a href="/wiki/Global_Positioning_System" title="Global Positioning System">Global Positioning System</a></li> <li><a href="/wiki/GLONASS" title="GLONASS">GLONASS</a></li> <li><a href="/wiki/BeiDou" title="BeiDou">BeiDou</a></li> <li><a href="/wiki/NavIC" class="mw-redirect" title="NavIC">NavIC</a></li> <li><a href="/wiki/NTRIP" class="mw-redirect" title="NTRIP">NTRIP</a></li></ul> <div class="mw-heading mw-heading2"><h2 id="References">References</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Real-time_kinematic_positioning&action=edit&section=5" title="Edit section: References"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239543626">.mw-parser-output .reflist{margin-bottom:0.5em;list-style-type:decimal}@media screen{.mw-parser-output .reflist{font-size:90%}}.mw-parser-output .reflist .references{font-size:100%;margin-bottom:0;list-style-type:inherit}.mw-parser-output .reflist-columns-2{column-width:30em}.mw-parser-output .reflist-columns-3{column-width:25em}.mw-parser-output .reflist-columns{margin-top:0.3em}.mw-parser-output .reflist-columns ol{margin-top:0}.mw-parser-output .reflist-columns li{page-break-inside:avoid;break-inside:avoid-column}.mw-parser-output .reflist-upper-alpha{list-style-type:upper-alpha}.mw-parser-output .reflist-upper-roman{list-style-type:upper-roman}.mw-parser-output .reflist-lower-alpha{list-style-type:lower-alpha}.mw-parser-output .reflist-lower-greek{list-style-type:lower-greek}.mw-parser-output .reflist-lower-roman{list-style-type:lower-roman}</style><div class="reflist"> <div class="mw-references-wrap"><ol class="references"> <li id="cite_note-1"><span class="mw-cite-backlink"><b><a href="#cite_ref-1">^</a></b></span> <span class="reference-text"><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite id="CITEREFBoquetVilajosanaMartinez2024" class="citation journal cs1">Boquet, Guillem; Vilajosana, Xavi; Martinez, Borja (2024). <a rel="nofollow" class="external text" href="https://doi.org/10.1109%2FTIM.2024.3453319">"Feasibility of Providing High-Precision GNSS Correction Data through Non-Terrestrial Networks"</a>. <i>IEEE Transactions on Instrumentation and Measurement</i>. <b>73</b>: 1–15. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1109%2FTIM.2024.3453319">10.1109/TIM.2024.3453319</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0018-9456">0018-9456</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=IEEE+Transactions+on+Instrumentation+and+Measurement&rft.atitle=Feasibility+of+Providing+High-Precision+GNSS+Correction+Data+through+Non-Terrestrial+Networks&rft.volume=73&rft.pages=1-15&rft.date=2024&rft_id=info%3Adoi%2F10.1109%2FTIM.2024.3453319&rft.issn=0018-9456&rft.aulast=Boquet&rft.aufirst=Guillem&rft.au=Vilajosana%2C+Xavi&rft.au=Martinez%2C+Borja&rft_id=https%3A%2F%2Fdoi.org%2F10.1109%252FTIM.2024.3453319&rfr_id=info%3Asid%2Fen.wikipedia.org%3AReal-time+kinematic+positioning" class="Z3988"></span></span> </li> <li id="cite_note-Wanninger2008-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-Wanninger2008_2-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFWanninger" class="citation web cs1">Wanninger, Lambert. <a rel="nofollow" class="external text" href="http://www.wasoft.de/e/iagwg451/intro/introduction.html">"Introduction to Network RTK"</a>. <i>www.wasoft.de</i>. 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"Precise Positioning in Real-Time using Navigation Satellites and Telecommunication". <i>PROCEEDINGS OF THE 3rd WORKSHOP ON POSITIONING, NAVIGATION AND COMMUNICATION</i>. <a href="/wiki/CiteSeerX_(identifier)" class="mw-redirect" title="CiteSeerX (identifier)">CiteSeerX</a> <span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.581.2400">10.1.1.581.2400</a></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.atitle=Precise+Positioning+in+Real-Time+using+Navigation+Satellites+and+Telecommunication&rft.btitle=PROCEEDINGS+OF+THE+3rd+WORKSHOP+ON+POSITIONING%2C+NAVIGATION+AND+COMMUNICATION&rft.date=2006&rft_id=https%3A%2F%2Fciteseerx.ist.psu.edu%2Fviewdoc%2Fsummary%3Fdoi%3D10.1.1.581.2400%23id-name%3DCiteSeerX&rft.aulast=RIETDORF&rft.aufirst=Anette&rft.au=DAUB%2C+Christopher&rft.au=LOEF%2C+Peter&rfr_id=info%3Asid%2Fen.wikipedia.org%3AReal-time+kinematic+positioning" class="Z3988"></span></span> </li> <li id="cite_note-:0-7"><span class="mw-cite-backlink">^ <a href="#cite_ref-:0_7-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:0_7-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFTrimble_Inc.2020" class="citation web cs1">Trimble Inc. 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Retrieved <span class="nowrap">March 3,</span> 2024</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Trimble&rft.atitle=Datasheet+-+Trimble+R12+GNSS+System+-+English+%28US%29&rft.date=2020-10&rft.au=Trimble+Inc.&rft_id=https%3A%2F%2Ftrl.trimble.com%2Fdocushare%2Fdsweb%2FGet%2FDocument-926324%2F022516-481C_Trimble%2520R12%2520GNSS%2520Receiver_DS_USL_1020_LRsec.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AReal-time+kinematic+positioning" class="Z3988"></span></span> </li> <li id="cite_note-Gakstatter2009-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-Gakstatter2009_8-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFGakstatter" class="citation web cs1">Gakstatter, Eric. <a rel="nofollow" class="external text" href="https://www.gps.gov/cgsic/meetings/2009/gakstatter1.pdf">"RTK Networks – What, Why, Where?"</a> <span class="cs1-format">(PDF)</span>. <i>www.gps.gov</i>. USSLS/CGSIC Meeting 2009<span class="reference-accessdate">. Retrieved <span class="nowrap">14 February</span> 2018</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=www.gps.gov&rft.atitle=RTK+Networks+%E2%80%93+What%2C+Why%2C+Where%3F&rft.aulast=Gakstatter&rft.aufirst=Eric&rft_id=https%3A%2F%2Fwww.gps.gov%2Fcgsic%2Fmeetings%2F2009%2Fgakstatter1.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AReal-time+kinematic+positioning" class="Z3988"></span></span> </li> <li id="cite_note-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-9">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFUS_Department_of_CommerceUS_Department_of_Commerce" class="citation web cs1">US Department of Commerce, NOAA; US Department of Commerce, NOAA. <a rel="nofollow" class="external text" href="https://www.ngs.noaa.gov/CORS/">"National Geodetic Survey - CORS Homepage"</a>. <i>www.ngs.noaa.gov</i><span class="reference-accessdate">. Retrieved <span class="nowrap">2018-12-11</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=www.ngs.noaa.gov&rft.atitle=National+Geodetic+Survey+-+CORS+Homepage&rft.aulast=US+Department+of+Commerce&rft.aufirst=NOAA&rft.au=US+Department+of+Commerce%2C+NOAA&rft_id=https%3A%2F%2Fwww.ngs.noaa.gov%2FCORS%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3AReal-time+kinematic+positioning" class="Z3988"></span></span> </li> <li id="cite_note-10"><span class="mw-cite-backlink"><b><a href="#cite_ref-10">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://www.codot.gov/business/manuals/survey/chapter-3-gps-gnss-surveys/chapter-3-gps_gnss.pdf">"CDOT Survey Manual"</a> <span class="cs1-format">(PDF)</span>. <i>Colorado Department of Transportation</i>. 2021.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Colorado+Department+of+Transportation&rft.atitle=CDOT+Survey+Manual&rft.date=2021&rft_id=https%3A%2F%2Fwww.codot.gov%2Fbusiness%2Fmanuals%2Fsurvey%2Fchapter-3-gps-gnss-surveys%2Fchapter-3-gps_gnss.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AReal-time+kinematic+positioning" class="Z3988"></span></span> </li> </ol></div></div> <div class="mw-heading mw-heading2"><h2 id="External_links">External links</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Real-time_kinematic_positioning&action=edit&section=6" title="Edit section: External links"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a rel="nofollow" class="external text" href="http://northsurveying.com/index.php/soporte/gnss-and-geodesy-concepts">RTK Detailed Concepts</a> GNSS, RTK and Satellite Positioning concepts in depth.</li> <li><a rel="nofollow" class="external text" href="http://www.ngs.noaa.gov/CORS_Map/">CORS Map</a> Global Network of Continuously Operating Reference Stations.</li> <li><a rel="nofollow" class="external text" href="https://www.google.com/maps/d/viewer?mid=zQ_LgHuo0o1o.k3Mrjox9GVjw">GBAS Map</a> Global Map Coverage of Ground Based Augmentation Reference Beacons (GBAS).</li> <li><a rel="nofollow" class="external text" href="https://www.ngs.noaa.gov/PUBS_LIB/NGSRealTimeUserGuidelines.v2.1.pdf">Guidelines</a> User Guidelines for Single Base Real Time GNSS Positioning (NOAA)</li> <li><a rel="nofollow" class="external text" href="http://gnssrtkmodule.com/index.php/manuals">RTK Integration</a> Manual to integrate RTK Receivers into UAVs and Robotics</li> <li><a rel="nofollow" class="external text" href="https://amerisurv.com/2021/04/18/history-of-rtk-part-1-a-really-tough-problem-to-solve/">History of RTK</a> An article by people involved in the early days of RTK</li></ul> <div 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scope="row" class="navbox-group" style="width:1%">Systems</th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/BeiDou" title="BeiDou">BeiDou</a></li> <li><a href="/wiki/DORIS_(satellite_system)" title="DORIS (satellite system)">DORIS</a></li> <li><a href="/wiki/Galileo_(satellite_navigation)" title="Galileo (satellite navigation)">Galileo</a></li> <li><a href="/wiki/GLONASS" title="GLONASS">GLONASS</a></li> <li><a href="/wiki/Global_Positioning_System" title="Global Positioning System">GPS</a></li> <li><a href="/wiki/Indian_Regional_Navigation_Satellite_System" title="Indian Regional Navigation Satellite System">IRNSS / NAVIC</a></li> <li><a href="/wiki/Quasi-Zenith_Satellite_System" title="Quasi-Zenith Satellite System">QZSS</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Satellite_navigation_device" title="Satellite navigation device">Devices</a></th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Personal_navigation_assistant" title="Personal navigation assistant">Personal navigation assistant</a></li> <li><a href="/wiki/Automotive_navigation_system" title="Automotive navigation system">Automotive navigation system</a></li> <li><a href="/wiki/GPS_tracking_unit" title="GPS tracking unit">GPS tracker</a></li> <li><a href="/wiki/GPS_tracking_unit#Data_loggers" title="GPS tracking unit">GPS logger</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Chipsets</th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/SiRFstarIII" title="SiRFstarIII">SiRFstarIII</a></li> <li>SiRFatlasIV</li> <li><a href="/wiki/MediaTek" title="MediaTek">MTK</a></li> <li>CellGuide ACLYS</li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/GNSS_augmentation" title="GNSS augmentation">GNSS augmentation</a></th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/European_Geostationary_Navigation_Overlay_Service" title="European Geostationary Navigation Overlay Service">EGNOS</a></li> <li><a href="/wiki/GPS-aided_GEO_augmented_navigation" title="GPS-aided GEO augmented navigation">GAGAN</a></li> <li><a href="/wiki/GPS%C2%B7C" title="GPS·C">GPS·C</a> (retired)</li> <li><a href="/wiki/Joint_precision_approach_and_landing_system" title="Joint precision approach and landing system">JPALS</a></li> <li><a href="/wiki/Local-area_augmentation_system" title="Local-area augmentation system">LAAS</a></li> <li><a href="/wiki/MTSAT_Satellite_Augmentation_System" title="MTSAT Satellite Augmentation System">MSAS</a></li> <li><a href="/wiki/Networked_Transport_of_RTCM_via_Internet_Protocol" title="Networked Transport of RTCM via Internet Protocol">NTRIP</a></li> <li><a href="/wiki/Quasi-Zenith_Satellite_System" title="Quasi-Zenith Satellite System">QZSS / Michibiki</a></li> <li><a href="/wiki/Southern_Positioning_Augmentation_Network" title="Southern Positioning Augmentation Network">SouthPAN</a></li> <li><a href="/wiki/StarFire_(navigation_system)" title="StarFire (navigation system)">StarFire</a></li> <li><a href="/wiki/Wide_Area_Augmentation_System" title="Wide Area Augmentation System">WAAS</a></li> <li><a href="/wiki/System_for_Differential_Corrections_and_Monitoring" title="System for Differential Corrections and Monitoring">SDCM</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Protocols</th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/NMEA_0183" title="NMEA 0183">NMEA</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Technology</th><td class="navbox-list-with-group navbox-list navbox-even hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Assisted_GNSS" title="Assisted GNSS">A-GPS</a></li> <li><a href="/wiki/S-GPS" title="S-GPS">S-GPS</a></li> <li><a class="mw-selflink selflink">RTK</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Geographic services</th><td class="navbox-list-with-group navbox-list navbox-odd hlist" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Apple_Maps" title="Apple Maps">Apple Maps</a></li> <li><a href="/wiki/Baidu_Maps" title="Baidu Maps">Baidu Maps</a></li> <li><a href="/wiki/Bing_Maps" title="Bing Maps">Bing Maps</a></li> <li><a href="/wiki/Google_Earth" title="Google Earth">Google Earth</a></li> <li><a href="/wiki/Google_Maps" title="Google Maps">Google Maps</a></li> <li><a href="/wiki/Here_WeGo" title="Here WeGo">Here WeGo</a></li> <li><a href="/wiki/MapQuest" title="MapQuest">MapQuest</a></li> <li><a href="/wiki/OpenCPN" title="OpenCPN">OpenCPN</a></li> <li><a href="/wiki/OpenStreetMap" title="OpenStreetMap">OpenStreetMap</a></li> <li><a href="/wiki/Petal_Maps" title="Petal Maps">Petal Maps</a></li> <li><a href="/wiki/NASA_WorldWind" title="NASA WorldWind">NASA WorldWind</a></li> <li><a href="/wiki/ViaMichelin" title="ViaMichelin">ViaMichelin</a></li> <li><a href="/wiki/Yahoo!_Maps" class="mw-redirect" title="Yahoo! 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