Performance Analysis of Network-RTK Techniques for Drone Navigation considering Ionospheric Conditions

Table 1

Overview of the experiment for NRTK positioning.

	Case 1		Case 2		Case 3
Component	VRS	FKP	VRS	FKP	VRS	VRS
Receiver	Trimble 5700		Trimble R6		Trimble R6	ublox EVK-6T
Frequency	L1/L2		L1/L2		L1/L2	L1
Sampling	1 Hz		1 Hz		1 Hz
Period	1 month		5 days		1.5 h (ublox); 11 days (Trimble R6)
GNSS	GPS		GPS + GLO		GPS + GLO	GPS
Antenna	Leica AT504GG		Internal		Internal	Patch type
Protocol	CMR	RTCM 3.1	CMR	RTCM 3.1	RTCM 3.1
Common epochs	165,719		7516		3462
Fixed epochs	116,023		6989		3251	306
Software	Internal	Internal	Internal	Internal	Internal	RTKLIB