Performance Analysis of Antenna Array-Aided RTK Positioning

Array-aided real-time kinematic (RTK) positioning leverages Global Navigation Satellite System measurements acquired from an antenna array with known geometry to improve positioning. This study investigates the impact of the antenna array by utilizing its known geometry to varying degrees. Initially, we establish the positioning error bounds for array-aided RTK by deriving the Cramér–Rao bound (CRB) and the constrained CRB. We then formulate the corresponding optimization problems and introduce estimation algorithms to validate these performance bounds and assess the effectiveness of array-assisted positioning across various scenarios. Our empirical findings underscore the significance of antenna arrays in enhancing RTK positioning and provide insights into strategies for utilizing and configuring the array's geometry.