Analysis of GNSS-RTK Monitoring Background Noise Characteristics Based on Stability Tests

GNSS-RTK offers numerous advantages and broad prospects in structural dynamic monitoring in civil engineering. However, in practical applications, GNSS-RTK accuracy is susceptible to the monitoring environments, causing actual monitoring accuracy to fall below its calibrated accuracy. This study investigates the monitoring accuracy and spectral characteristics of GNSS-RTK based on stability tests under different environments related to reflection and obstruction conditions (i.e., concrete, grass, an obstructed balcony, and a water area). The findings indicate that in open environments of grass, concrete, and water, the standard deviation (STD) of GNSS-RTK monitored displacement is below 8 mm, its accuracy meeting the specifications of structural health monitoring. In the obstructed balcony environments, GNSS-RTK signals exhibit amplitude jumps, resulting in lower accuracy; however, during non-jump intervals, the STD of monitored displacement is below 10 mm, satisfying the structural health monitoring accuracy requirements. Moreover, the amplitudes of GNSS-RTK displacements in the concrete, grass, and water areas are basically consistent with the calibration accuracy of ±10 mm in the horizontal direction and ±20 mm in the elevation direction, while the amplitudes of GNSS-RTK displacements in the obstructed balcony condition are far greater than the calibration accuracy. The spectral analysis of GNSS-RTK signals reveals that multipath errors in concrete, grass, and obstructed balcony environments are primarily concentrated in the low-frequency range within 0.04 Hz, while the internal white noise of the instrument is widely and evenly distributed across the whole frequency domain. Based on these findings, adaptive methods, such as filter methods and multipath error correction techniques, are proposed for the de-noising of GNSS-RTK background noise.