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	GNSS RTK	INS-felmodellen
Ämnesområde	Flyg- och rymdteknik	Flyg- och rymdteknik
Familj	Process / pipeline	Process / pipeline
Ursprungsår	1980s	1960s
Upphovsperson	GPS constellation	Schuler and others
Typ	Positioning method	Stochastic model
Ursprungskälla	Teunissen, P. J. G., & Kleusberg, A. (Eds.). (2003). GPS for Geodesy (2nd ed.). Springer-Verlag.	Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology.
Alias	RTK, Real-Time Kinematic positioning, GNSS-RTK, differential GNSS	INS error analysis, error state kalman filter, ESKF
Närliggande	3	3
Sammanfattning	Global Navigation Satellite System Real-Time Kinematic (GNSS RTK) is a high-precision positioning technique that uses carrier phase measurements from a reference receiver at a known location to correct the position estimates of a rover receiver in real time. Developed in the 1980s, RTK exploits spatial correlation of atmospheric errors to achieve centimeter-level accuracy within tens of kilometers of the reference station. RTK is now standard in surveying, construction, autonomous vehicles, and precision agriculture.	The INS Error Model is a mathematical framework that characterizes how errors in inertial sensor measurements propagate through a navigation system's estimates of position, velocity, and attitude. Developed during the 1960s and refined through decades of navigation research, the error model enables design of optimal estimation filters (e.g., Kalman filters) that fuse inertial measurements with external references (GNSS, LiDAR, cameras) to bound and correct accumulated errors. The error model is fundamental to understanding and improving inertial navigation performance.