Development, Implementation and Field Trial of 5G Integrated GNSS-RTK Positioning in Cross-Border Settings

Accurate positioning is critical for 5G Connected and Automated Mobility (CAM) services, particularly for applications such as Vulnerable Road User (VRU) protection, whichdemand precise location estimation. Real-Time Kinematic (RTK) is a well-established technique capable of achieving centimeterlevel accuracy; however, no off-the-shelf 5G-based RTK devices are currently available. In this work, we propose an architecture that integrates RTK-based positioning solutions into the 5G cellular network. Additionally, we develop and demonstrate a 5G-integrated RTK-GNSS positioning device, detailing its components and functionality. A major challenge is maintaininghigh performance while crossing the border, as this can lead to issues such as correction data interruption due to connection disruptions. Therefore, The device was tested at the border crossing between Estonia and Latvia, achieving estimated positioning error in the order of centimeters.