Surveying, agriculture and the navigation of autonomous robots, cars, ships and aerial systems require Global Navigation Satellite Systems (GNSS) for precise positioning. In this paper, we describe a Real-Time Kinematic (RTK) positioning method, that uses both GPS and Galileo measurements with a common reference satellite, estimates a pseudorange multipath error for each satellite to prevent a mapping of multipath errors into the position, and performs a hypothesis testing for ambiguity fixing. The proposed method is tested on the new Multi-Sensor, Multi-GNSS RTK positioning module of ANavS, which includes up to 3 GNSS receivers, an inertial sensor, a barometer and a processor for RTK positioning on a single board. The measurement results show a repeatable millimeter-level positioning accuracy.     «

Surveying, agriculture and the navigation of autonomous robots, cars, ships and aerial systems require Global Navigation Satellite Systems (GNSS) for precise positioning. In this paper, we describe a Real-Time Kinematic (RTK) positioning method, that uses both GPS and Galileo measurements with a common reference satellite, estimates a pseudorange multipath error for each satellite to prevent a mapping of multipath errors into the position, and performs a hypothesis testing for ambiguity fixing....     »