Development of an on-board single-frequency GNSS RTK system for MAVs

This paper describes the implementation and experimental results of an on-board real-time kinematic global navigation satellite system (GNSS) for micro air vehicles (MAVs). In this study, a local NTRIP system is constructed, and a base station and a rover station are designed. The RTKLIB source code is modified and ported to single-board computers, forming the stream server of the base station and the position solver of the rover station. To demonstrate and verify the performance of this positioning system, field tests are conducted. Results show that this positioning system is suitable for MAV applications which require economical exact 3D positioning service.