Localization with Real‐Time Kinematic Global Navigation Satellite System

Commercial Global Positioning System (GPS) receivers, such as the ones in cell phones, usually can provide meter‐level accuracy in the best case. However, this is not enough for autonomous vehicles, which require centimeter‐level localization. One technology to achieve centimeter accuracy is the real‐time kinematic (RTK) Global Navigation Satellite System (GNSS). This chapter introduces localization with RTK GNSS and its role in an autonomous driving technology stack. It provides an overview of GNSS technologies and presents a step‐to‐step detailed guide on setting up one's own RTK GNSS system for high‐precision localization. The chapter discusses RTK‐GNSS architecture and demonstrates how to setup a cloud server to broadcast base station correction signal, or the Radio Technical Commission for Maritime Services (RTCM) signal. When a cloud server is not a good option, it also demonstrates how to set up FreeWave radio to broadcast RTCM signals.