Wrong FIX detection of RTK-GNSS positioning using the 3D point cloud of surrounding environment

Abstract Global Navigation Satellite Systems is a positioning system that receives signals from satellites. RTK-GNSS positioning uses multiple satellites and base stations. In RTK-GNSS positioning, the accuracy of the positioning solution is determined by a Ratio-test, classifying it as either a accurate solution (FIX) or an inaccurate one. When classified as FIX, the positional error is within a few centimeters. However, the positioning solutions judged to be FIX may contain inaccurate data called Wrong FIX. Removing Wrong FIX is the current challenge. In this paper, we propose Wrong FIX detection method for using the geometry of the surrounding environment. The proposed method identifies Wrong FIX by leveraging the fact that point clouds obtained from two positions will precisely overlap when their relative positions are accurately aligned. Experiments were conducted to demonstrate the effectiveness of the proposed method, and it was confirmed that the accuracy was improved by comparing it with the Root Mean Squared Error and Binary Accuracy of the Ratio-test.