E3S Web of Conferences 479, 02001 (2024) https://doi.org/10.

1051/e3sconf/202447902001
ISSAT 2023

Establishment of control points using GNSS-

RTK technique
Mohd Zahirudin Bin Mohammed Na’aim1* and Marlina Binti Abdul Manaf2
1
Jabatan Kejuruteraan Awam, Politeknik Kuching Sarawak, Sarawak, Malaysia
2Jabatan Teknologi Maklumat Dan Komunikasi, Politeknik Kuching Sarawak, Sarawak, Malaysia

Abstract. Nowadays, Global Navigation Satellite Systems (GNSS)

methods are broadly utilized to determine positions of points. This study was
conducted with the aim of determining the positioning of control points at
Politeknik Kuching Sarawak Campus using GNSS-RTK Technique. For this
purpose, twenty-four control points were established with an average
baseline length between Base station and Rover less than 1 km were
occupied with Topcon HiPer VR receivers for different time periods. In this
study there are situation of positioning under satellite obstruction such as the
control points situated in the near buildings. Multipath is a common
challenge in GNSS-RTK especially in complex environments. The final
result from the Horizontal and Height differences were determined and
compared with those measured by both static and RTK surveys. The result
of the study shows that GNSS-RTK positioning method ensure high
accuracy GNSS position solution within few centimetres.

1 Introduction
The Global Navigation Satellite System (GNSS) consists of multiple satellite constellations
(GPS, GLONASS, Galileo, Beidou, IRNSS, QZSS, SBAS) plays an important and essential
role in the field of geodesy because it allows data to be obtained in a short period of time
without interference in terms of distance, terrain, visibility and weather. Since the end of May
2022, more than 130 satellites are available for fully global operational satellite navigation
systems [1]. Civilian/non encrypted GNSSs, they are employed for proving positioning,
navigation and timing (PNT) solutions across a wide range of industries [2]. Global
Navigation Satellite System (GNSS) can provide users a fast, cost-effective, and reliable
positioning service [3]. Different real-time kinematic GNSS-RTK technique have been used
for determining the position of any point on the globe [4]. GNSS-RTK is developing at a very
fast rate and this a becoming very common and popular among the users. GNSS-RTK (Global
Navigation Satellite System Real-Time Kinematic) is a satellite navigation technique that
combines real- time satellite data with precise carrier phase measurements to achieve highly
accurate and real-time positioning. To facilitate rapid and precise GNSS positioning, the
integer carrier phase ambiguities need to be resolved [5]. Real Time Kinematic (RTK)
positioning makes use of carrier phase measurements in the differential positioning mode,
multiple epochs or a short period of observations are involved to achieve reliable Ambiguity

* Corresponding author: mzahir@poliku.edu.my

© The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative
Commons Attribution License 4.0 (https://creativecommons.org/licenses/by/4.0/).
E3S Web of Conferences 479, 02001 (2024) https://doi.org/10.1051/e3sconf/202447902001
ISSAT 2023

Resolution to determine the precise position, while the RTK solutions are derived from the
current epoch [6]. Nowadays it is frequently used in applications that require centimetre-level
accuracy, such as land surveying, construction, precision agriculture, and autonomous
vehicles. GNSS surveying in urban environments and areas with many obstructions, the
signal obstructions and multipath effects is a common issue that can affect the accuracy of
position measurements . These obstructions can lead to inaccuracies in the RTK solution due
to the GNSS receiver receiving distorted or reflected signals. In such an environment, satellite
signals are reflected, scattered or faded, and sometimes completely blocked by roofs and
walls of high-rise buildings, flyover bridges, complex road structures, trees, mountains, and
other obstacles etc. making positioning and navigation information inaccurate, unreliable,
and largely unavailable [7].
GNSS-RTK is a technique used to achieve highly accurate and real-time positioning by
combining signals from multiple Global Navigation Satellite System (GNSS) satellites . The
technique relies on differential correction to mitigate errors and enhance the accuracy of
position solutions. The positioning accuracy depends mostly on the baseline length due to the
atmospheric errors [8]. The baseline length and communication range are important factors
that influence the accuracy and feasibility of differential GNSS techniques, such as Real-
Time Kinematic (RTK). The baseline length between the base station and rover can impact
accuracy. RTK accuracy decreases with increasing baseline length due to increased
susceptibility to atmospheric errors. In general, shorter baselines result in higher accuracy.
For short-range applications like precision agriculture or construction, baselines may be a
few kilometres or less. In challenging environments, establishing a reliable data link over
long distances may require the use of higher-power radios, taller antennas, or additional relay
stations. Additionally, maintaining real-time communication between the base station and
rover over long distances can be challenging. Urban canyon effects are a significant challenge
for GNSS (Global Navigation Satellite System) positioning in urban environments [9].
GNSS-RTK is a differential GNSS technique that enhances the accuracy of positioning
by using correction data from a nearby reference station. Consistent horizontal and vertical
accuracy is crucial for precise positioning. GNSS-RTK positioning systems are susceptible
to various sources of errors that can influence the accuracy and reliability of the positioning
solution. These errors can be sorted into different types, including Atmospheric Errors and
Ionospheric delay means GNSS signals pass through the ionosphere, a reg ion of the Earth's
upper atmosphere and can cause changes in signal speed, leading to inaccuracies in the
calculated positions. Meanwhile tropospheric delay means the troposphere, the lower
atmosphere, can cause delays in GNSS signals due to moisture and atmospheric conditions.
These delays can be significant, especially in humid or unstable weather.
The main disadvantage of GNSS is the dependence on the openness of the horizon for the
visibility of satellites [10]. In ideal conditions with good satellite visibility, high-quality
equipment, and real-time correction data from a nearby reference station, RTK GNSS can
achieve centimetre-level horizontal and vertical accuracy. However, in challenging
environments with signal obstructions, therefore in this study in such conditions, achieving
centimetre-level horizontal and vertical accuracy can be more challenging. This can introduce
errors and delay the receiver's ability to acquire a sufficient number of satellites for a fix.

2 Materials and methods

In this study, the study area and location of control points is around the Politeknik Kuching
Sarawak as shown in Figure 1.

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Fig. 1. Study area.

The GNSS equipment used are Topcon Hyper VR GNSS receivers. Table 1 show the
receiver specifications for tracking of signals. The Topcon HiPer VR GNSS receivers is
multi-GNS S Positioning where the GNSS receivers enables the determination of position
coordinates using satellites of at least one system. The Hiper VR GNSS receivers is designed
to provide comprehensive satellite tracking capabilities by supporting multiple GNSS
constellations and signals. This multi-constellation and multi-frequency tracking capability
enhances the receiver's accuracy, reliability, and availability. This receiver receives signals
transmitted by multiple satellites in orbit around the Earth. These signals contain information
about the satellite's position, time, and satellite health. There are two GNSS receivers Topcon
Hyper VR such as Base Station and Rover and Field Communicator or data collector provides
a user interface for monitoring and controlling the GNSS receiver used in this study as shown
in figure 3. The Software Applications Magnet Field are used to configure and monitor the
RTK session. This involves communication such as establish real-time communication
between the base station and the rover.
Table 1. Receiver specifications for tracking of signals.

Receiver GPS GLONASS Galileo BeiDou QZSS IRNSS SBAS

L1 C/A,
L1C, L1 C/A, E1,E5a, L1 C/A,
Topcon WAAS/EGNO
L1P(Y), L1P,L2C/A, E5b,E5 B1,B2 L1C,L2C, SPS-L5
Hiper VR S,MSAS
L2P(Y), L2P,L3C Alt- BOC L5
L2C L5

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Fig. 2. A dual-frequency GNSS-RTK rover receiver, data collector and GNSS software.

2.1 Data acquisition

The practical surveys were conducted using Topcon Hiper VR GNSS receivers using RTK
technique for determination of Control Points coordinates. The concept of RTK positioning
by utilize two GNSS Receivers, a Base and Rover in order to observe high accuracy
positioning. During the measurement one GNSS receiver is set up over a known control point
with known coordinates such as a base station while another GNSS receiver or GNSS rover
is set up at locations where control points are to be made. We set up Base station and Rover
with baseline length below 1000m. Where the radio signals are strong and used to establish
real-time communication between the base station and the rover so that the differential
correction data from the base station to the rover, enabling the rover to achieve highly
accurate positioning in real time.
The GNSS-RTK measurements are taken at different time periods, in this study there
were measured three time periods. The first observation period is conducted in the morning,
the second observation period is conducted in the afternoon and the third observation period
is conducted in evening. Then the coordinates and elevations of the control points measured
by GNSS RTK are compared with the known coordinates and elevation values measured by
GNSS Static technique. Comparing the coordinates and elevations measured by GNSS-RT
K with known coordinates and elevation values is a fundamental step in the quality control
and validation of GNSS survey data. Finally, 3 round observations were measured at each
point, and each round collected 10 epochs. The average values of 3 rounds are taken as the
final results of observation points. Collecting multiple rounds of observations and averaging
helps mitigate the impact of random errors, signal fluctuations, and other sources of
variability that can affect individual observations. Averaging provides a more robust and
accurate estimate of the survey point's position.

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Fig. 3. Base station and rover.

The control points survey monument was surveyed with the GNSS rover. The rover
receivers also track GNSS satellite signals and collects raw measurements. The rover
receivers are setup on 24 control point such as PKS801, PKS802, PKS803, PKS804, PKS805,
PKS806, PKS807, PKS808, PKS809, PKS810, PKS811, PKS812, PKS813, PKS814,
PKS815, PKS816, PKS817, PKS818, PKS819, PKS820, PKS821, PKS822, PKS823 and
PKS824 in areas with many obstacles.
This GNSS receiver tracking technology for all satellites and constellations and multiple
frequencies such as L1, L2 and L5. This increases the number of available signals, improving
the chances of maintaining a fix in obstructed areas. RTK requires fast ambiguity resolution
for initialization at the start of the survey, or when losing satellite tracking [11]. RTK-fixed
solutions mean that the rover using corrections from the base resolved ambiguities in its
positional calculation and achieve the solution with sentimental level accuracy but if it’s get
RTK-float solutions that means that the rover receives corrections from the base but cannot
resolve all ambiguities and in this case the accuracy is usually at the sub-meter level. When
the rover is not receiving correction that means it does not receive any data from the database
that can help to calculate the solution. that mean status was RTK single solutions or
Autonomous, the accuracy is usually in meter level accuracy. The single solution or
Autonomous means that the rover has found a solution based solely on the signal from the
satellites. Meanwhile the GNSS campaign for GNSS static surveys was started by set up a
GNSS receiver of Topcon Hiper VR, dual frequency receiver at a Reference Control Point.
A second GNSS of the same Topcon model was setup at 24 control points and occupation
durations of 1 hour, and the base line were less than 1km. Selecting a stable GNSS reference
point is crucial in ensuring the accuracy and reliability of GNSS surveys, particularly in
applications like land surveying, construction, and geodetic control. In this study a location
of Control Point that is geodetically stable and stability is essential for long- term accuracy.
In this study the software to process the GNSS data, for static surveys was using Topcon
Tools Software. The software can compute baselines using simultaneous measurement data
from two or more GNSS receivers. These baselines represent the vectors between the
positions of the GNSS receivers, and they are essential for a variety of applications in
surveying, geodesy, and precise positioning. By computing baselines and analysing the
relative positions of GNSS receivers, users can determine accurate and precise spatial
information for a wide range of purposes. Baselines in the context of GNSS represent three-

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dimensional lines that connect the positions of two GNSS receivers. These baselines provide
essential information about the relative spatial separation between the receivers .

3 Result and discussion

After the completion of GNSS-RTK field data acquisition, then export the collected GNSS-
RTK data from the data collector to a computer using USB pen drive to move the data. Real-
Time Kinematic (RTK) positioning is faster than static GNSS positioning. Static GNSS
surveys involve longer observation periods and post-processing to achieve the highest
accuracy. GNSS static measurements were made at 24 control points and these measurement
values were accepted as exact measurement values and reference values. The differences of
the static measurement values and the measurement values obtained by GNSS-RT K
measurement methods were taken respectively and to assess the accuracy and reliability of
the two measurement methods. The coordinates of GNSS-RTK were compared with the
coordinates of the 24-control point obtained from the GNSS Static surveys. These
measurement differences were analysed and compared in various aspects. This approach to
understanding the performance and reliability of these measurement methods.

Table 2. The Differences Between The GNSS-RTK Observation Values and The GNSS Static
Observation Values in the morning.
GNSS Observations
Control Differential
NO RTK STATIC
Point
N(m) E(m) H(m) N(m) E(m) H(m) ΔN ΔE AEI
1 PKS801 5180550.989 2056100.218 34.327 5180550.977 2056100.211 34.296 0.012 0.007 0.031
2 PKS802 5180550.21 2056142.649 33.746 5180550.196 2056142.655 33.714 0.014 -0.006 0.032
3 PK5803 5180516.518 2056097.894 32.819 5180516.508 2056097.888 32.86 0.01 0.006 -0.041
4 PKS804 5180466.319 2056173.782 30.682 5180466.311 2056173.775 30.726 0.008 0.007 -0.044
5 PKS805 5180471.89 2056084.229 32.509 5180471.896 2056084.222 32.476 -0.006 0.007 0.033
6 PKS806 5180434.473 2056074.917 30.337 5180434.481 2056074.907 30.306 -0.008 0.01 0.031
7 PKS807 5180387.336 2056001.549 33.855 5180387.321 2056001.55 33.894 0.015 -0.001 -0.039
8 PKS808 5180379.496 2056029.713 30.341 5180379.487 2056029.723 30.386 0.009 -0.01 -0.045
9 PKS809 5180378.778 2056072.598 30.301 5180378.773 2056072.607 30.348 0.005 -0.009 -0.047
10 PKS810 5180354.681 2056071.665 30.371 5180354.671 2056071.669 30.412 0.009 -0.004 -0.041
11 PK5811 5180382.882 2056108.16 30.043 5180382.886 2056108.17 30.002 -0.004 -0.01 0.041
12 PKS812 5180382.931 2056155.351 27.885 5180382.934 2056155.357 27.854 -0.003 -0.006 0.031
13 PKS813 5180383.771 2056175.339 27.579 5180383.775 2056175.346 27.545 -0.004 -0.007 0.034
14 PKS814 5180299.764 2056112.397 27.559 5180299.753 2056112.394 27.523 0.011 0.003 0.036
15 PK5815 5180306.265 2056058.353 28.537 5180306.259 2056058.339 28.572 0.005 0.014 -0.035
16 PKS816 5180319.652 2056018.422 29.411 5180319.659 2056018.428 29.448 -0.007 -0.006 -0.037
17 PKS817 5180323.976 2056008.783 29.946 5180323.974 2056008.766 29.982 0.002 0.017 -0.036
18 PKS818 5180475.871 2056005.057 34.433 5180475.858 2056005.061 34.47 0.013 -0.004 -0.037
19 PK5819 5180493.195 2055976.923 34.325 5180493.201 2055976.934 34.357 -0.006 -0.011 -0.032
20 PKS820 5180534.229 2055974.319 34.468 5180534.223 2055974.312 34.499 0.006 0.007 -0.031
21 PKS821 5180553.506 2055939.057 34.547 5180553.512 2055939.061 34.517 -0.006 -0.004 0.03
22 PKS822 5180553.532 2055972.318 34.832 5180553.54 2055972.322 34.794 -0.008 -0.004 0.038
23 PKS823 5180551.112 2056074.315 34.589 5180551.105 2056074.305 34.553 0.007 0.01 0.036
24 PKS824 5180443.027 2056037.919 39.373 5180443.017 2056037.913 39.339 0.01 0.006 0.034

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Fig. 5. Graf shows data observation differences at Control Point in Politeknik Kuching
Sarawak in the morning.

Table 2 shows the experimental results of horizontal position and elevation of the points
measured by GNSS-RTK in the morning can reach less than 2cm and 3cm precision level.
Also, the results of these table are illustrated in figure 5. The results indicate that there was a
height differences were bigger due to obstructed environment such as high building and tree
shading in value less than 5cm at PKS803, PKS804, PKS808, PKS809, PKS810, PKS811
and PKS813.

Table 3. The Differences Between The GNSS-RTK Observation Values and The GNSS Static
Observation Values in the afternoon
GNSS Observations
Control Differential
NO RTK STATIC
Point
N(m) E(m) H(m) N(m) E(m) H(m) ΔN ΔE AEI
1 PKS801 5180550.992 2056100.214 34.33 5180550.977 2056100.211 34.296 0.015 0.003 0.034
2 PKS802 5180550.203 2056142.661 33.742 5180550.196 2056142.655 33.714 0.007 0.006 0.028
3 PKS803 5180516.516 2056097.897 32.887 5180516.508 2056097.888 32.86 0.008 0.009 0.027
4 PKS804 5180466.307 2056173.771 30.701 5180466.311 2056173.76 30.726 -0.004 0.011 -0.025
5 PKS805 5180471.907 2056084.229 32.451 5180471.896 2056084.222 32.476 0.011 0.007 -0.025
6 PKS806 5180434.488 2056074.917 30.333 5180434.481 2056074.907 30.306 0.007 0.01 0.027
7 PKS807 5180387.334 2056001.555 33.863 5180387.321 2056001.55 33.894 0.013 0.005 -0.031
8 PKS808 5180379.479 2056029.733 30.429 5180379.487 2056029.723 30.386 -0.008 0.01 0.043
9 PKS809 5180378.764 2056072.615 30.303 5180378.773 2056072.607 30.348 -0.009 0.008 -0.045
10 PKS810 5180354.661 2056071.673 30.459 5180354.671 2056071.669 30.412 -0.01 0.004 0.047
11 PKS811 5180382.877 2056108.179 30.039 5180382.886 2056108.17 30.002 -0.009 0.009 0.037
12 P16812 5180382.927 2056155.364 27.828 5180382.934 2056155.357 27.854 -0.007 0.007 -0.026
13 P16813 5180383.766 2056175.352 27.502 5180383.775 2056175.346 27.545 -0.009 0.006 -0.043
14 P1(5814 5180299.765 2056112.387 27.498 5180299.753 2056112.394 27.523 0.012 -0.007 -0.025
15 P1(5815 5180306.268 2056058.348 28.541 5180306.259 2056058.339 28.572 0.009 0.009 -0.031
16 P1(5816 5180319.671 2056018.422 29.423 5180319.659 2056018.428 29.448 0.012 -0.006 -0.025
17 P1(5817 5180323.962 2056008.763 29.951 5180323.974 2056008.766 29.982 -0.012 -0.003 -0.031
18 PKS818 5180475.871 2056005.066 34.439 5180475.858 2056005.061 34.47 0.013 0.005 -0.031

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19 PKS819 5180493.214 2055976.937 34.323 5180493.201 2055976.934 34.357 0.013 0.003 -0.034
20 PKS820 5180534.234 2055974.318 34.466 5180534.223 2055974.312 34.499 0.011 0.006 -0.033
21 PKS821 5180553.503 2055939.066 34.549 5180553.512 2055939.061 34.517 -0.009 0.005 0.032
22 PKS822 5180553.532 2055972.326 34.806 5180553.54 2055972.32 34.794 -0.008 0.006 0.012
23 PKS823 5180551.114 2056074.309 34.581 5180551.105 2056074.305 34.553 0.009 0.004 0.028
24 PKS824 5180443.006 2056037.918 39.371 5180443.017 2056037.913 39.339 -0.011 0.005 0.032

Fig. 6. Graf shows data observation differences at Control Point in Politeknik Kuching
Sarawak in the afternoon.

Table 3 show that experimental results of horizontal position and elevation of the points
measured by RTK in the afternoon can reach 2cm and 3cm precision level. Also, the results
of these table are illustrated in figure 6. While in obstructed environment, such as high
building and tree shading at PKS803, PKS804, PKS808, PKS809, PKS810, PKS811 and
PKS813 the height differences are less than 5cm. GNSS receivers, relies on receiving
unobstructed signals from satellites to determine precise positions. Obstructions like trees,
buildings, and other structures can significantly impact the propagation of GNSS signals,
leading to reduced accuracy or even signal loss.

Table 4. The Differences Between The GNSS-RTK Observation Values and The GNSS Static
Observation Values in the evening
GNSS Observations
Control Differential
NO RTK STATIC
Point
N(m) E(m) H(m) N(m) E(m) H(m) ΔN ΔE AEI
1 PKS801 5180550.986 2056100.212 34.328 5180550.977 2056100.21 34.296 0.009 0.001 0.032
2 PKS802 5180550.2 2056142.659 33.741 5180550.196 2056142.66 33.714 0.004 0.004 0.027
3 PKS803 5180516.52 2056097.895 32.889 5180516.508 2056097.89 32.86 0.012 0.007 0.029
4 PKS804 5180466.318 2056173.771 30.698 5180466.311 2056173.78 30.726 0.007 -0.004 -0.028
5 PKS805 5180471.885 2056084.227 32.451 5180471.896 2056084.22 32.476 -0.011 0.005 -0.025
6 PKS806 5180434.474 2056074.919 30.336 5180434.481 2056074.91 30.306 -0.007 0.012 0.03
7 PKS807 5180387.331 2056001.553 33.863 5180387.321 2056001.55 33.894 0.01 0.003 -0.031
8 PKS808 5180379.475 2056029.729 30.423 5180379.487 2056029.72 30.386 -0.012 0.006 0.037
9 PKS809 5180378.776 2056072.614 30.303 5180378.773 2056072.61 30.348 0.003 0.007 -0.045
10 PKS810 5180354.683 2056071.676 30.456 5180354.671 2056071.67 30.412 0.012 0.007 0.044

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11 PKS811 5180382.892 2056108.181 30.041 5180382.886 2056108.17 30.002 0.006 0.011 0.039
12 PKS812 5180382.928 2056155.366 27.828 5180382.934 2056155.36 27.854 -0.006 0.009 -0.026
13 PKS813 5180383.767 2056175.349 27.501 5180383.775 2056175.35 27.545 -0.008 0.003 -0.044
14 PKS814 5180299.765 2056112.389 27.495 5180299.753 2056112.39 27.523 0.012 -0.005 -0.028
15 PKS815 5180306.262 2056058.345 28.539 5180306.259 2056058.34 28.572 0.003 0.006 -0.033
16 PKS816 5180319.648 2056018.422 29.42 5180319.659 2056018.43 29.448 -0.011 -0.006 -0.028
17 PKS817 5180323.971 2056008.761 29.949 5180323.974 2056008.77 29.982 -0.003 -0.005 -0.033
18 PKS818 5180475.869 2056005.066 34.439 5180475.858 2056005.06 34.47 0.011 0.005 -0.031
19 PKS819 5180493.19 2055976.938 34.327 5180493.201 2055976.93 34.357 -0.011 0.004 -0.03
20 PKS820 5180534.227 2055974.321 34.466 5180534.223 2055974.31 34.499 0.004 0.009 -0.033
21 PKS821 5180553.519 2055939.069 34.546 5180553.512 2055939.06 34.517 0.007 0.008 0.029
22 PKS822 5180553.529 2055972.326 34.825 5180553.54 2055972.32 34.794 -0.011 0.006 0.031
23 PKS823 5180551.111 2056074.311 34.585 5180551.105 2056074.31 34.553 0.006 0.006 0.032
24 PKS824 5180443.029 2056037.923 39.368 5180443.021 2056037.91 39.339 0.008 0.01 0.029

Fig. 7. Graf shows data observation differences at Control Point in Politeknik Kuching
Sarawak in the evening.

Table 4 shows the observation values horizontal position and elevation in Control Points
give good and acceptable height value in 2cm and 3cm except height value in PKS803,
PKS804, PKS808, PKS809, PKS810, PKS811 and PKS813, less than 5cm where the control
points situated in the near buildings. These obstructions can lead to inaccuracies in the RTK
solution due to the GNSS receiver receiving distorted or reflected signals .

4 Conclusion
The result show that GNSS-RTK can achieve under 2 cm level accuracy of horizontal
position and under 5cm level accuracy of elevation of the points measured by RTK in high
building, tree shading environment. meanwhile GNSS-RTK can achieve horizontal accuracy
typically in the range of 1 centimetre (cm) to 2 centimetre (cm) in ideal conditions. Vertica l
accuracy with GNSS-RTK closely matches horizontal accuracy, ranging from 1 cm to 3 cm.
Multipath is a common challenge in GNSS-RTK especially in urban or complex

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environments. The increase in the number of satellites in GNSS constellations can have
significant benefits such as Improved Signal Availability. With more satellites in the
constellation, users on the ground have a higher probability of having a clear line of sight to
multiple satellites, even in challenging environments with obstacles like buildings and trees.
The GNSS technology enhanced accuracy with a larger number of satellites provides
redundancy in measurements, allowing for more accurate positioning. Redundancy enables
the receiver to identify and mitigate errors more effectively, leading to improved accuracy,
especially in difficult conditions. The horizontal position and elevation of the points can be
measured quickly by GNSS-RTK technology and become so fast and efficient which means
we can now get centimetre accuracy. An increased number of satellites can reduce Faster
Time to First Fix (TTFF), allowing for quicker and more efficient positioning. More satellites
in view at any given time led to better geometric configurations. Improved satellite geometry
minimizes dilution of precision (DOP) and enhances the accuracy and reliability of
positioning solutions The result implies that, GNSS-RTK can determine their position fast,
easily, and cost-effectively at any time in real-time within a few cm-level of accuracy. In the
obstructed areas where centimetre accuracy is required, the GNSS-RTK technique is suitable.

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