Performance Assessment of Kinematic GNSS Positioning with Smartphones Based on Post-Processing of Raw Observations

Abstract

In recent years, there have been significant technological advances in the development of commonmobile devices. This broughtprogress also in the area of positioning with thesedevices. Allowingaccess to raw GNSS observationsrecorded by mobile devices opened possibilities to apply advanced positioning techniques in order toachieve higher positioning accuracy. The paper describes the results of kinematic measurements of a single-frequency Samsung Galaxy S10+smartphone and a dual-frequency Samsung Galaxy Note10+smartphone. Observations were repeatedly collected at a1.76 km long test route inan urban environment atapedestrian speed. Real-time positioning by autonomous method as well as collection of raw observations into RINEX format and their subsequent post-processing by differential techniques and Precise Point Positioning technique wererealized. The achieved results were compared against a reference linerepresenting the real trajectoryand also againstresults of ageodeticgrade GNSSreceiver.Positioning accuracy of mobile devices ranged from the first decimetres to tens of metres, depending on the environment, tested smartphone and used post-processing technique.Dual-frequency smartphone Samsung Galaxy Note 10+ provided abetter performance compared to the single-frequencydevice. Real-time positioning based on a simple autonomous technique and smoothing algorithm for route optimizationreached lower positioning errors compared to all solutions based on collecting raw observations and their consequent post-processingwith mentioned techniques.