Collaborative positioning with GNSS as a technique for global high-precision positioning in real time

Collaborative positioning with GNSS as a technique for global high-precision positioning in real time | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Collaborative positioning with GNSS as a technique for global high-precision positioning in real time Sergei Dolin This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6748017/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract The development of precise real-time positioning systems for global and continuous navigation is crucial for a wide range of applications. However, current GNSS-based methods fail to meet the demands of modern users for real-time navigation, as they have limitations in terms of range and data transmission. The RTK and N-RTK techniques, while efficacy in certain scenarios, are limited by their range and require substantial data transfer. On the other hand, this problem does not exist in Precise Point Positioning (PPP). However, the process of Ambiguity Resolution (AR) poses significant challenges for real-time applications. Despite these challenges, post-processing solutions are generally less problematic than real-time solutions. PPP-AR, with its various implementations, allows for a fixed solution in both static and kinematic modes, and its potential real-time application in precise positioning presents more practical and significant use cases. This paper explores the technique of a collaborative positioning approach that combines PPP-AR with RTK, aiming to overcome the limitations of high-precision real-time coordinate determination methods. The proposed approach is designed to enhance the capabilities of existing technologies in this field. This technology can contribute to the establishment of a novel, highly accurate dynamic ground-based infrastructure. Pseudo-kinematic experiments showed a level of accuracy of 10–20 cm for each coordinate regardless of the distance between receivers during real-time operation. The findings and analysis provided herein offer valuable insights and essential in demonstrating a prospective approach to integrating two precise techniques. This implementation has significant potential for advanced business solutions requiring real-time coordinate determination. PPP RTK SSR Collaborative Positioning Real-Time Precise Positioning Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6748017","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":526563496,"identity":"f634cf95-6505-4d42-8ff4-0ec33eea80b5","order_by":0,"name":"Sergei Dolin","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA7klEQVRIiWNgGAWjYBAC+QYwxczAx8zA+CCBwQLIScCvxeAAVAsbMwOzQQKDBBFaGGBaGBjYgOqJ0cLe+/jFxzZrOTZ23mMVD2ok5AyOJzB++JiDxy89x80sZ7alG7Mx86XdSDgmYWxw5gGz5MxteKy5kcZmzNt2OLGNmcfsRmKDROKGGwlszLz4tNx/xmb8F6qlgDgtN9iYHzNCtTAQpcXgTBobY885kF94jCVAfpE887AZr1/k248xf/hRZi3Hz3/G8OOPGhs5vuPJBz98xOcwUHQwsqEIMDbgVQ8EzB8Y/hBSMwpGwSgYBSMaAACGf00RGPsS3QAAAABJRU5ErkJggg==","orcid":"","institution":"Siberian State University of Geosystems and Technologies","correspondingAuthor":true,"prefix":"","firstName":"Sergei","middleName":"","lastName":"Dolin","suffix":""}],"badges":[],"createdAt":"2025-05-26 07:23:04","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6748017/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6748017/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":93160939,"identity":"af1fe5ac-bb7c-40ae-8e51-b589a85e16c6","added_by":"auto","created_at":"2025-10-09 16:39:51","extension":"docx","order_by":0,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":977782,"visible":true,"origin":"","legend":"","description":"","filename":"CPinGPSSolutions.docx","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/ba6cebe427f80197bd18d1b9.docx"},{"id":93161156,"identity":"133f9ffc-fcc9-4bfa-89ba-982700cab85a","added_by":"auto","created_at":"2025-10-09 16:47:51","extension":"json","order_by":1,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":3998,"visible":true,"origin":"","legend":"","description":"","filename":"7f4d74d115324ef0aac8cc71345202d7.json","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/0573d741e7d4c3c0b6d2c9b7.json"},{"id":93160166,"identity":"74f46c78-db03-4d7a-9b67-0ca8f1db677e","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"xml","order_by":2,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":95080,"visible":true,"origin":"","legend":"","description":"","filename":"7f4d74d115324ef0aac8cc71345202d71enriched.xml","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/859fb1e8a40c1583e107633b.xml"},{"id":93161926,"identity":"0aa0bf74-a54c-4d70-8fe3-14880d7145d5","added_by":"auto","created_at":"2025-10-09 16:55:51","extension":"jpeg","order_by":3,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":75820,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage1.jpeg","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/82b2af0abb67e91be70365ff.jpeg"},{"id":93160164,"identity":"593a5085-ff9a-49e3-a3b2-26a32f5375f5","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"jpeg","order_by":4,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":240706,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage2.jpeg","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/68ef29d3d0ece696fd2ace5d.jpeg"},{"id":93160169,"identity":"b7d5338a-744a-4be9-9f5a-7ea3052c9224","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"jpeg","order_by":5,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":86632,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage3.jpeg","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/2df1ba4839221338a4de905b.jpeg"},{"id":93161158,"identity":"33c85f1f-3f86-4c3d-80aa-3f79681d76be","added_by":"auto","created_at":"2025-10-09 16:47:51","extension":"jpeg","order_by":6,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":301078,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage4.jpeg","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/622f797c4bd620b37488abc5.jpeg"},{"id":93160172,"identity":"09636b1d-f08f-4312-9bf0-01cea8dc44f4","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"jpeg","order_by":7,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":36059,"visible":true,"origin":"","legend":"","description":"","filename":"floatimage5.jpeg","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/ee08ae72fc13cece4bd43a4b.jpeg"},{"id":93161927,"identity":"d8e0a031-46b0-4b4b-a8f9-3c2249dc03ab","added_by":"auto","created_at":"2025-10-09 16:55:51","extension":"wmf","order_by":8,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image103.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/b33bf873635880fdaae0d8a8.wmf"},{"id":93160937,"identity":"38c8c4fe-ce94-4da5-a8c7-39d7fd05df4b","added_by":"auto","created_at":"2025-10-09 16:39:51","extension":"wmf","order_by":9,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image104.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/866ad0f7230258e3c9f8fd41.wmf"},{"id":93160181,"identity":"95002194-eb11-492e-8449-bfda95179d6a","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"wmf","order_by":10,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image105.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/18f8546b5f8d830500cd26ad.wmf"},{"id":93160941,"identity":"62b43af2-5308-4cf5-be3b-1a2107d9220c","added_by":"auto","created_at":"2025-10-09 16:39:51","extension":"wmf","order_by":11,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image13.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/178ea477aed520dc9e7bd7f9.wmf"},{"id":93160176,"identity":"e09e29d7-dd73-4ad2-9ea7-8128dcf10c59","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"wmf","order_by":12,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image14.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/8695f473b943476e497abb1e.wmf"},{"id":93160178,"identity":"d33f6c1d-8aee-464a-babe-0fe9825957c8","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"wmf","order_by":13,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image15.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/abb04ca71833c6c2f6ae090c.wmf"},{"id":93161159,"identity":"905cc7a6-b372-4705-ad14-3c617dc4d179","added_by":"auto","created_at":"2025-10-09 16:47:51","extension":"wmf","order_by":14,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image39.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/f2a0354deee7a9ec09e71086.wmf"},{"id":93160946,"identity":"3dc510d1-a364-4578-81aa-36094589e02e","added_by":"auto","created_at":"2025-10-09 16:39:52","extension":"wmf","order_by":15,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image40.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/8a4925522d3a4df801e2e61a.wmf"},{"id":93160173,"identity":"7f30d2f3-95f4-4893-a76b-63d17f8e1e80","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"wmf","order_by":16,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image6.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/d26783523f0c58d89ce8e7df.wmf"},{"id":93160195,"identity":"8164c175-ff38-4b81-96db-29e1227b49d9","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"wmf","order_by":17,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image64.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/95583f700a625f0218aea77f.wmf"},{"id":93160187,"identity":"dc68b449-b35e-4b0b-a9cc-7e54a3ba4811","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"wmf","order_by":18,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image7.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/9ea6e756bdffc2b25a7d0da7.wmf"},{"id":93161161,"identity":"a55a0fca-d5d4-4619-a643-c4c276da58f2","added_by":"auto","created_at":"2025-10-09 16:47:52","extension":"wmf","order_by":19,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image81.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/22c4454914b7b72d0e67e0ac.wmf"},{"id":93160189,"identity":"a2594bba-f9a6-45ea-a612-d99c52ea609f","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"wmf","order_by":20,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image84.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/3e9665283aa43b6954824850.wmf"},{"id":93160190,"identity":"6276460d-9d5f-4aa7-9332-16fb76d7a50b","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"wmf","order_by":21,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":598,"visible":true,"origin":"","legend":"","description":"","filename":"image93.wmf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/a9cf8f3edddbcaa8e6f32117.wmf"},{"id":93160944,"identity":"f94ed17b-77b0-4991-8c97-2cb12824bc60","added_by":"auto","created_at":"2025-10-09 16:39:52","extension":"png","order_by":22,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":11030,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage1.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/f7e5d3ee7984b5a24eb416a6.png"},{"id":93160183,"identity":"251c8e49-4c15-4f47-a8be-d53f7692524d","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":23,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":40281,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage2.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/f2e4f437cd76972cc968bdaf.png"},{"id":93160193,"identity":"7adb6e03-7be3-4f1e-9bde-e94e6b6b0a01","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":24,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":18444,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage3.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/73cb686a9499b01c7fcba7ec.png"},{"id":93160179,"identity":"b5aa5403-5edc-4147-abf0-2659fe65b8f5","added_by":"auto","created_at":"2025-10-09 16:31:51","extension":"png","order_by":25,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":70624,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage4.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/63aee0092b766aa37533a14e.png"},{"id":93160199,"identity":"f16c82d2-3552-4f82-a748-f2730939b1cb","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":26,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":23537,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinefloatimage5.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/5804060b236b44eae65aae98.png"},{"id":93160184,"identity":"7774de27-98d0-4e56-a42c-6615ef5780d9","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":27,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":205,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage103.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/abbf42ac2836acd74d6db172.png"},{"id":93160188,"identity":"879f8ad8-0411-47ba-8908-aa2f97484b01","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":28,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":222,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage104.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/011644d182ef16a41d02ad81.png"},{"id":93160203,"identity":"35cd603e-6b8f-45f7-ad96-011474f5a47b","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":29,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":216,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage105.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/ca14fc0c1cc4299497d01dd7.png"},{"id":93160204,"identity":"35c35531-b826-4de3-bb86-c85142d70019","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":30,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":222,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage104.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/9ac5a39d1841af862f7c720b.png"},{"id":93160948,"identity":"171fc935-5828-4c4a-b9b4-25ff2451cdc1","added_by":"auto","created_at":"2025-10-09 16:39:52","extension":"png","order_by":31,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":216,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage14.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/6f521c7fb31a6b50836d61d2.png"},{"id":93160186,"identity":"fa4f1056-5ca8-4e91-850c-da93b658c7de","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":32,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":222,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage104.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/e25bd5b0426cd56ca52574dc.png"},{"id":93161162,"identity":"1dc34f2f-235a-473a-8b01-2d9d37aab732","added_by":"auto","created_at":"2025-10-09 16:47:52","extension":"png","order_by":33,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":241,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage39.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/eae20fa3d8a324fe03e60b98.png"},{"id":93160212,"identity":"e5b8885b-03a0-4305-ae6e-baba0dbd665d","added_by":"auto","created_at":"2025-10-09 16:31:53","extension":"png","order_by":34,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":197,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage40.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/acce63e761b8ce47c4c6b938.png"},{"id":93160185,"identity":"56f77efb-5f8d-47f6-a5c9-aeb6bdaf5e8e","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":35,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":250,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage6.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/95d93aa5a18b29f392029a8a.png"},{"id":93160198,"identity":"c16d8900-b22e-4806-ac82-ad54049c208e","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":36,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":202,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage64.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/a8aebb00d2749e91186944be.png"},{"id":93160207,"identity":"80aedd9a-3cf6-4981-8308-55de1a06069d","added_by":"auto","created_at":"2025-10-09 16:31:53","extension":"png","order_by":37,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":250,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage6.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/4d2bae8d7bb9a38b770f5915.png"},{"id":93160209,"identity":"32a2898b-4161-4317-b835-68df8b54fc33","added_by":"auto","created_at":"2025-10-09 16:31:53","extension":"png","order_by":38,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":217,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage81.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/1d50d43daf17719bc62ec919.png"},{"id":93160205,"identity":"5aeefa2c-d42b-402d-a6be-ea8e09f2a8e8","added_by":"auto","created_at":"2025-10-09 16:31:52","extension":"png","order_by":39,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":222,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage104.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/c38003a05d0382d7a781ac75.png"},{"id":93160215,"identity":"a3091a5f-9383-4cd0-9f7e-04103a26eff3","added_by":"auto","created_at":"2025-10-09 16:31:53","extension":"png","order_by":40,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":222,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineimage104.png","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/7ff4a0afec2e6a3cd747c568.png"},{"id":93160949,"identity":"dd76246c-2a55-4531-a872-332358c6f3ee","added_by":"auto","created_at":"2025-10-09 16:39:52","extension":"xml","order_by":41,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":94484,"visible":true,"origin":"","legend":"","description":"","filename":"7f4d74d115324ef0aac8cc71345202d71structuring.xml","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/c586eceb18d2a91567ed2d6c.xml"},{"id":93160210,"identity":"56b74b23-c6d5-4a7d-98f1-8c91a5ac6a16","added_by":"auto","created_at":"2025-10-09 16:31:53","extension":"html","order_by":42,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":107673,"visible":true,"origin":"","legend":"","description":"","filename":"earlyproof.html","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1/7b5bcb7e2851cb0cb72f182f.html"},{"id":100548082,"identity":"995d039c-28c9-4315-bfb6-1f6b3327942f","added_by":"auto","created_at":"2026-01-19 08:17:29","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":687761,"visible":true,"origin":"","legend":"","description":"","filename":"CPinGPSSolutions.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6748017/v1_covered_0cef8e32-136e-430d-8c13-bc7bf3089acb.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Collaborative positioning with GNSS as a technique for global high-precision positioning in real time","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"PPP, RTK, SSR, Collaborative Positioning, Real-Time, Precise Positioning","lastPublishedDoi":"10.21203/rs.3.rs-6748017/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6748017/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThe development of precise real-time positioning systems for global and continuous navigation is crucial for a wide range of applications. However, current GNSS-based methods fail to meet the demands of modern users for real-time navigation, as they have limitations in terms of range and data transmission. The RTK and N-RTK techniques, while efficacy in certain scenarios, are limited by their range and require substantial data transfer. On the other hand, this problem does not exist in Precise Point Positioning (PPP). However, the process of Ambiguity Resolution (AR) poses significant challenges for real-time applications. Despite these challenges, post-processing solutions are generally less problematic than real-time solutions. PPP-AR, with its various implementations, allows for a fixed solution in both static and kinematic modes, and its potential real-time application in precise positioning presents more practical and significant use cases. This paper explores the technique of a collaborative positioning approach that combines PPP-AR with RTK, aiming to overcome the limitations of high-precision real-time coordinate determination methods. The proposed approach is designed to enhance the capabilities of existing technologies in this field. This technology can contribute to the establishment of a novel, highly accurate dynamic ground-based infrastructure. Pseudo-kinematic experiments showed a level of accuracy of 10\u0026ndash;20 cm for each coordinate regardless of the distance between receivers during real-time operation. The findings and analysis provided herein offer valuable insights and essential in demonstrating a prospective approach to integrating two precise techniques. This implementation has significant potential for advanced business solutions requiring real-time coordinate determination.\u003c/p\u003e","manuscriptTitle":"Collaborative positioning with GNSS as a technique for global high-precision positioning in real time","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-10-09 16:31:47","doi":"10.21203/rs.3.rs-6748017/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"5ff7c510-e6d7-4fd6-87af-42f969b76af9","owner":[],"postedDate":"October 9th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2026-01-18T01:38:19+00:00","versionOfRecord":[],"versionCreatedAt":"2025-10-09 16:31:47","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-6748017","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-6748017","identity":"rs-6748017","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}