Mobilni stanice GPS RTK

Abstract

This bachelor’s thesis focuses on the design and implementation of a mobile station for Global Navigation Satellite Systems (GNSS) using the Real–Time Kinematic (RTK) method. The objective of the thesis was to develop a functioning RTK rover capable of achieving centimeter-level positioning accuracy in real time. The proposed station consists of multi-frequency GNSS module Holybro H–RTK F9P Rover Lite based on the u-blox ZED-F9P chip, a Raspberry Pi 3B+ single–board computer, and a USB power bank for a power supply. A custom software layer was implemented in the Python programming language to handle the reception and processing of UBX messages and the aggregation of positioning data. The functionality and accuracy of the system were verified through two experiments. Long–term static measurements demonstrated a horizontal accuracy (CEP50) at the level of 3~mm over an eight day observation period. A repeatability test showed an average deviation of approximately 8~mm at the extreme positions of a linear actuator.