Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations

• URL: http://arxiv.org/abs/2606.29192v1
• Date: Sun, 28 Jun 2026 04:30:01 GMT
• Title: Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations
• Abstract summary: Real-Time Kinematic (RTK) technology can achieve centimeter-level accuracy, facilitating autonomous navigation tasks.<n>We present a novel tightly-coupled state estimation framework that achieves high-precision localization.<n>Our method improves the accuracy of a single-frequency receiver from several meters to decimeter-level precision across diverse environments.
• Score: 31.54785319181002
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Global Navigation Satellite System (GNSS) navigation is widely used to provide absolute, outdoor positioning in field robotics. Advances in Real-Time Kinematic (RTK) technology can achieve centimeter-level accuracy, facilitating autonomous navigation tasks. However, the cost and extra infrastructure used for RTK still hinder the application and more cost-effective solutions are desired. In this letter, we present a novel tightly-coupled state estimation framework that achieves high-precision localization by using low-cost, mass-market single-frequency GNSS receivers with any relative motion sensors (e.g., wheel encoder, camera, LiDAR). We propose a sliding-window factor graph that integrates generic relative motion with global epoch-to-anchor constraints derived from continuous carrier phase tracking. To eliminate the reliance on physical base stations, we introduce a virtual anchor mechanism: upon the initial observation of a satellite, its state is locked as a virtual reference to establish global epoch-to-anchor constraints. By substituting multi-frequency hardware redundancy with single-frequency multi-modal kinematic priors and a robust cycle-slip recovery technique, our approach ensures carrier-phase integrity on cheap receivers. Extensive real-world experiments on heterogeneous low-cost sensor suites validate that our method improves the accuracy of a single-frequency receiver from several meters to decimeter-level precision across diverse environments, providing an accurate, cost-effective and reliable alternative for autonomous navigation.

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