Errors analysis of differential single-frequency geo-positioning algorithm

In this paper results of research on RTK (Real Time Kinematic) technique used to develop small and lightweight receiver of GNSS (Global Navigation Satellite System) signals is presented. Experiments with such receivers show that they are able to deliver good quality position estimation of micro aerial vehicles in 3D space during a flight. The standard deviation of the position measurement is less than few centimeters (usually about 2 cm). But it is noted that the results are susceptible to several errors. Beside presenting common sources of mentioned errors this paper proposes ways to limits their effects and statistical data of real-world measurements.