An experimental analysis of Global Positioning System (GPS) flight data collected on board a Small Unmanned Aerial Vehicle\n(SUAV) is conducted in order to demonstrate that post processed kinematic Precise Point Positioning (PPP) solutions with\npre cisions approximately 6 cm 3D Residual Sum of Squares (RSOS) can be obtained on SUAVs that have short duration flights\nwith limited observational periods (i.e., only âË?¼ââ?°Â¤5 minutes of data). This is a significant result for the UAV flight testing community\nbecause an important and relevant benefit of the PPP technique over traditional Differential GPS (DGPS) techniques, such as\nReal-Time Kinematic (RTK), is that there is no requirement for maintaining a short baseline separation to a differential GNSS\nreference station. Because SUAVs are an attractive platform for applications such as aerial surveying, precision agriculture, and\nremote sensing, this paper offers an experimental evaluation of kinematic PPP estimation strategies using SUAV platform data.\nIn particular, an analysis is presented in which the position solutions that are obtained from post processing recorded UAV flight\ndata with various PPP software and strategies are compared to solutions that were obtained using traditional double-differenced\nambiguity fixed carrier-phase Differential GPS (CP-DGPS). This offers valuable insight to assist designers of SUAV navigation\nsystems whose applications require precise positioning.
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