A Novel Single Differencing Measurement for Multipath Detection

Increased global dependence on Global Navigation Satellite Systems (GNSSs) has resulted in a high demand for greater precision and reliable measurements from GNSS receivers. The multipath problem is the single largest source of errors in modernised GNSSs. Double differencing techniques, such as Code Minus Carrier (CMC) have been shown to accurately detect and measure multipath, allowing for corrections to be made via Ground Base Augmentation Systems (GBAS), for example. However, these techniques require at least two receivers and the protection provided is not extended to stand-alone receivers. This paper introduces a new single differencing technique for the accurate detection of multipath in standalone GNSS receivers receiving modernised Binary Offset Carrier (BOC)-modulated signals. Similarities to CMC are drawn before the novel measurement, Code minus Subcarrier, (CMS) is characterised statistically and a threshold for multipath detection is determined. The effectiveness and sensitivity of this novel measurement as a multipath detection technique are analysed through simulation and multipath error envelope analysis. It will be shown that multipath echos capable of inducing a psuedorange error larger than the threshold are detectable at any amplitude. The method is finally verified using simulated fixed offset multipath, confirming that when code and subcarrier early–late spacings are optimal, all ranges of multipath delays, even as small as 21 meters, are detectable. This novel method of multipath detection requires no additional complex correlators than already exist in the chosen tracking algorithm, thus, providing excellent detection with minimum complexity added to the receiver structure

Signal design and Theoretical bounds for Time-Of-Arrival estimation in GNSS applications

Positioning accuracy in satellite navigation systems depends on time-delay estimation (TDE) between satellite transmitted codes and local receiver replicas. This thesis is specifically focused on the problem of improving time delay estimation (TDE) accuracy of SS signals, focusing on the fundamental issue of estimation theory and on the properties of the transmitted signal. TDE fundamentals limits are deeply investigated, encompassing the Cram´er Rao Bound and the Ziv-Zakai Bound, and their modified versions to lighten their computation in presence of unknown parameters, in addiction to the time delay. The adoption of the ZZB as benchmark for both acquisition and tracking stage performance is addressed, analyzing innovative or standard signalling waveforms such as Galileo SIS. The main contributions of this thesis are dealt with the analysis of applicability of spread spectrum continuous phase-modulated (SS-CPM) and spread spectrum filtered multitone (SS-FMT) as ranging signals. A special subset of CPM, labeled as “Semi-integer MSK (SiMSK)” obtained by properly setting the modulation parameters, is revealed easily adaptable to the requirements on emissions, intrinsically constant envelope and spectral efficient, while still allowing good tracking performance. Besides, an ad hoc encoding of the SS-SiMSK enables the design of a constant envelope signal bearing two different rate services, without any approximation at the transmitter side. The analysis of the multicarrier (MC) signal revealed the high degree of freedom in its design, proposing the special Filtered Multitone (FMT) modulation as possible candidate for ranging signals. The strictly bandlimited property and the full spectral flexibility possessed by the FMT are exploited in some cases of study to adapt the system to channel conditions or in particular to emulate existing or innovative spectra. For both the SSCPM and SS-FMT modulation schemes investigated, some estimation algorithms are tested and their performance are compared to the correspondent theoretical bound

Narrowband interference rejection studies for Galileo signals via Simulink

Four Global Navigation Satellite System (GNSS) are scheduled to be fully operational orbiting the Earth in the coming years. A considerably high number of signals, coming from each of the satellites that will constitute those constellations, will share the radio electric spectrum. Aeronautical Radio Navigation Systems (ARNS) share the E5 Galileo band. Examples of ARNS are Distance Measuring Equipment (DME) and Tactical Air Navigation system (TACAN). It should also be mentioned that electronic attacks (jamming or spoofing) have always been a latent threat for satellite services. All of this are important interference sources which can partially or completely disable a GNSS system. These interferences must be, and are currently being studied together with interference mitigation methods. The aim of the work presented in this thesis is to study the narrowband interference effects in Galileo E5 band and to assess three mitigation techniques against two types of narrowband interferences, Continuous Wave Interference (CWI) and DME signals. Cancellation techniques can be classified into two major groups: time-domain approaches and frequency-domain approaches. Methods that combine time and frequency together are also given in the literature (e.g. cyclostationarity-based methods) but their implementations are very costly with high sampling rates as those used for example in Galileo E5 signals. The mitigation techniques that are addressed in this thesis are zeroing, dynamic notch filtering and blanking pulse methods. All of them can be understood as filtering techniques that remove any signal above a certain threshold. This thesis shows that zeroing is more suitable for CWI and blanking is better against DME signals. These techniques have been developed within a Matlab-Simulink based simulator initiated in 2007 at Tampere University of Technology. The implemented simulator could be a great help tool for future research and development projects

Performance of precise marine positioning using future modernised global satellite positioning systems and a novel partial ambiguity resolution technique

The International Maritime Organisation (IMO) established a set of positioning requirements for future Global Navigation Satellite System (GNSS) constellations in IMO resolution A.915. It is important to be able to determine if these requirements can be met, and what shore infrastructure would be required. This thesis describes the collection of data in a marine environment and the analysis of these data with regards to the requirements. The data collection exercise was held at the beginning of May 2008 and saw THV Alert navigate into Harwich Harbour whilst Global Positioning System (GPS) observation data were recorded from onboard the vessel and from shore-based reference stations. Additional data were obtained from nearby Ordnance Survey reference stations, and two total stations were used to track the vessel’s passage to provide a truth model. Several modernised GPS satellites were tracked. The data were processed under different scenarios, using software developed at UCL, and the positioning performance was analysed in the context of the IMO requirements. Potential performance improvements from modernised GPS and Galileo were then discussed. Providing integrity through single-epoch real-time kinematic positioning, required to meet the strictest IMO requirements, is particularly difficult. The identification of phase observation outliers is not possible before the integer ambiguities are resolved, but an undetected outlier could prevent successful ambiguity resolution. It will not always be necessary to fix all the ambiguities to achieve the required positioning precision, particularly with a multi-GNSS constellation. This thesis introduces a new algorithm for partial ambiguity resolution in the presence of measurement bias. Although computationally intensive, this algorithm significantly improves the ambiguity resolution success rate, increasing the maximum baseline length over which the highest requirements are met with dual-frequency GPS from 1 km to 66 km

Physical Layer Challenges and Solutions in Seamless Positioning via GNSS, Cellular and WLAN Systems

As different positioning applications have started to be a common part of our lives, positioning methods have to cope with increasing demands. Global Navigation Satellite System (GNSS) can offer accurate location estimate outdoors, but achieving seamless large-scale indoor localization remains still a challenging topic. The requirements for simple and cost-effective indoor positioning system have led to the utilization of wireless systems already available, such as cellular networks and Wireless Local Area Network (WLAN). One common approach with the advantage of a large-scale standard-independent implementation is based on the Received Signal Strength (RSS) measurements.This thesis addresses both GNSS and non-GNSS positioning algorithms and aims to offer a compact overview of the wireless localization issues, concentrating on some of the major challenges and solutions in GNSS and RSS-based positioning. The GNSS-related challenges addressed here refer to the channel modelling part for indoor GNSS and to the acquisition part in High Sensitivity (HS)-GNSS. The RSSrelated challenges addressed here refer to the data collection and calibration, channel effects such as path loss and shadowing, and three-dimensional indoor positioning estimation.This thesis presents a measurement-based analysis of indoor channel models for GNSS signals and of path loss and shadowing models for WLAN and cellular signals. Novel low-complexity acquisition algorithms are developed for HS-GNSS. In addition, a solution to transmitter topology evaluation and database reduction solutions for large-scale mobile-centric RSS-based positioning are proposed. This thesis also studies the effect of RSS offsets in the calibration phase and various floor estimators, and offers an extensive comparison of different RSS-based positioning algorithms

Geodetic Sciences

Space geodetic techniques, e.g., global navigation satellite systems (GNSS), Very Long Baseline Interferometry (VLBI), satellite gravimetry and altimetry, and GNSS Reflectometry & Radio Occultation, are capable of measuring small changes of the Earth�s shape, rotation, and gravity field, as well as mass changes in the Earth system with an unprecedented accuracy. This book is devoted to presenting recent results and development in space geodetic techniques and sciences, including GNSS, VLBI, gravimetry, geoid, geodetic atmosphere, geodetic geophysics and geodetic mass transport associated with the ocean, hydrology, cryosphere and solid-Earth. This book provides a good reference for geodetic techniques, engineers, scientists as well as user community

Methods for Improving Performance in Consumer Grade GNSS Receivers

Viimeisten kolmen vuosikymmenen aikana satelliittinavigointi on kehittynyt ammatti ja sotilaskäyttäjien tekniikasta kaikkien saatavilla olevaksi tekniikaksi. Varsinkin viimeisen 15 vuoden aikana, kun vastaanottimet alkoivat pienentyä ja halpenivat, on lisääntynyt määrä yrityksiä, jotka toimittavat GPS-laitteita satoihin erilaisiin sovelluksiin. Kaikille moderneille tekniikoille on myös tyypillistä, että tutkimukseen ja siihen liittyvään vastaanottimien kehittämiseen on käytetty valtavasti rahaa, mikä on johtanut huomattavaan parantumiseen vastaanottimen suorituskyvyssä. GPS-vastaanottimien kehitystyön lisäksi uusien maailmanlaajuisten satelliittinavigointijärjestelmien, kuten venäläisen GLONASS, kiinalaisen BeiDou- ja eurooppalaisen Galileo-järjestelmien käyttöönotto tarjoaa entistä enemmän mahdollisuuksia suorituskyvyn parantamiseen. Sekä GPS että nämä uudet järjestelmät ovat myös ottaneet käyttöön uudentyyppisiä signaalirakenteita, jotka voivat tarjota parempilaatuisia havaintoja ja siten parantaa kaikkien vastaanottimien suorituskykyä. Lopuksi menetelmät, kuten PPP ja RTK, jotka aiemmin olivat varattu ammattikäyttäjille, ovat tulleet kuluttajamarkkinoille mahdollistaen ennennäkemättömän suorituskyvyn jokaiselle satelliittinavigointivastaanottimien käyttäjälle. Tässä opinnäytetyössä arvioidaan tämän kehityksen vaikutusta sekä suorituskykyyn että vastaanottimen arkkitehtuuriin. Työssä esitellään yksityiskohtaisesti FGI:ssä kehitetyn ohjelmistopohjaisen vastaanottimen, FGI-GSRx:n. Tämän vastaanottimen avulla on työssä arvioitu miten sekä uudet konstellaatiot että uudet nykyaikaiset signaalit ja niitten seurantamenetelmät vaikuttavat suorituskykyyn ja vastaanotin arkkitehtuuriin. Tämän lisäksi on arvioitu PPP- ja RTK-tarkkuuspaikannusmenetelmien vaikutus FinnRefCORS-verkkoa käyttäen useiden erityyppisten vastaanottimien kanssa, mukaan lukien kuluttajalaatuiset vastaanottimet. Tulokset osoittavat, että enemmän konstellaatioita ja signaaleja käytettäessä paikannusratkaisun tarkkuus paranee 3 metristä 1,4 metriin hyvissä olosuhteissa ja yli 10-kertaiseksi tiheästi rakennetuissa kaupungeissa, jossa käytettävissä olevien signaalien määrä kasvaa kertoimella 2 käytettäessä kolmea konstellaatiota. Uusia moderneja modulaatiotekniikoita, kuten BOC-modulaatiota, käytettäessä tulokset osoittavat Galileo-ratkaisun tarkkuuden paranevan lähes 25%:lla ja esitelty uusi signaalinkäsittelymenetelmä lisää tällaisen tarkkuuden saatavuutta 50%:sta lähes 100%:iin. Lopuksi tarkkuuspaikannusmenetelmien tulokset osoittavat, että 15 cm:n tarkkuus on saavutettavissa, mikä on merkittävä parannus verrattuna 1,4 metrin tarkkuuteen. Näiden parannusten saavuttamiseksi on olennaista, että itse vastaanotin on mukautettu hyödyntämään näitä uusia signaaleja ja konstellaatioita. Tämä tarkoittaa, että nykyaikaisten kuluttajamarkkinoiden vastaanottimien suunnittelu on haastavaa ja monissa tapauksissa ohjelmistopohjainen vastaanotin olisi parempi ja halvempi valinta kuin uusien mikropiirien kehittäminen.For the last three decades, satellite navigation has evolved from being a technology for professional and military users to a technology available for everyone. Especially during the last 15 years, since the receivers started getting smaller and cheaper, there has been an increasing number of companies delivering Global Positioning System (GPS) enabled devices for hundreds of different kind of applications. Typical for any modern technology, there has also been an enormous amount of money spent on research and accompanied receiver development resulting in an immense increase in receiver performance. In addition to the development efforts on GPS receivers the introduction of new global navigation satellite systems such as the Russian Globalnaja Navigatsionnaja Sputnikovaja Sistema (GLONASS), the Chinese BeiDou, and the European Galileo systems offers even more opportunities for improved performance. Both GPS and these new systems have also introduced new types of signal structures that can provide better quality observations and even further improve the performance of all receivers. Finally, methods like Precise Point Positioning (PPP) and Real Time Kinematic (RTK) that earlier were reserved for professional users have entered into the consumer market enabling never before seen performance for every user of satellite navigation receivers. This thesis will assess the impact of this development on both performance as well as on receiver architecture. The design of the software defined receiver developed at FGI, the FGI-GSRx, is presented in detail in this thesis. This receiver has then been used to assess the impact of using multiple constellations as well as new novel signal processing methods for modern signals. To evaluate the impact of PPP and RTK methods the FinnRef Continuously Operating Reference Station (CORS) network has been used together with several different types of receivers including consumer grade off the shelf receivers. The results show that when using more constellations and signals the accuracy of the positioning solution improves from3 meters to 1.4 meters in open sky conditions and by more than a factor 10 in severe urban canyons. For severe urban canyons the available also increases by a factor 2 when using three constellations. When using new modern modulation techniques like high order BOC results show an accuracy improvement for a Galileo solution of almost 25 % and the presented new signal processing method increase the availability of such an accuracy from 50 % to almost 100 %. Finally, results from precise point positioning methods show that an accuracy of 15 cm is achievable, which is a significant improvement compared to an accuracy of 1.4 m for a standalone multi constellation solution. To achieve these improvements, it is essential that the receiver itself is adapted to make use of these new signals and constellations. This means that the design of modern consumer market receivers is challenging and in many cases a software define receiver would be a better and cheaper choice than developing new Application Specific Integrated Circuit (ASIC)’s

Survey of Positioning Techniques for improved Accuracy

Projecte de final de carerra fet en col.laboració amb AGH University of science and TechnologyCatalà: No hi ha dubte que els sistemes de posicionament han estat un dels grans avenços en tecnologia de l'últim quart del segle XX. El fet de poder conèixer la posició d'un objecte mitjançant càlculs realitzats per senyals enviades per satétiles i amb cobertura global, ha suposat una revolució en diferents àrees. El que va començar com una cursa d'avenços militars entre els EE. UU. i la U.R.S.S. en plena Guerra Freda, ara sembla pertànyer més als usuaris civils que als militars. Tant és així que en els últims anys, aquests sistemes s'estan obrint més i més als usuaris civils, i fins i tot estan proliferant altres sense fins militars. Aquesta Tesi està dividida en tres parts. A la primera part s'introdueix el concepte de posicionament i s?estudien els sistemes de posicionament que actualment existeixen i els que estan en procés de desenvolupament. Degut a la seva importància, s'expliquen amb més detall els sistemes GPS, GLONASS i Galileo. Tot i així l'objectiu d'aquesta tesi és el sistema GPS. A la segona part, s'examinen les fonts d'error que afecten la precisió en el posicionament del sistema GPS, per veure quines d'elles poden ser corregides i com fer-ho. Amb això, es descriuen les tècniques existents en GPS per millorar la precisió, amb caràcter especial per als SBAS i AGPS. Aquest últim, més i més popular degut a l'aparició dels smartphones. Finalment, s'introdueixen els Tracking Systems, un dels grans beneficiats pels sistemes de posicionament. S'analitzen els diferents sistemes existents i es fa un petit estudi sobre una selecció dels productes que l'usuari pot trobar al mercat. Amb això, es pretén oferir al lector una idea global sobre els Tracking Systems i de les seves possibles aplicacions.Castellano: No cabe duda que los sistemas de posicionamiento han sido uno de los grandes avances en tecnología del último cuarto del siglo XX. El hecho de poder conocer la posición de un objeto mediante cálculos realizados por señales enviadas por satétiles y con cobertura global, ha supuesto una revolución en distintas áreas. Lo que comenzó como una carrera de avances militares entre los EE. UU. y la U.R.S.S. en plena Guerra Fría, ahora parece pertenecer más a los usuarios civiles que a los militares. Tanto es así que en los últimos años, esos sistemas se están abriendo más y más a los usuarios civiles, e incluso están proliferando otros sin fines militares. Esta Tesis está dividida en tres partes. En la primera parte se introduce el concepto de posicionamiento y se estudian los sistemas de posicionamiento que actualmente existen así como los que están en proceso de desarrollo. Debido a su importancia, se explican con mayor detalle los sistemas GPS, GLONASS y Galileo. Aún así el objetivo de esta tesis es el sistema GPS. En la segunda parte, se examinan las fuentes de error que afectan la precisión en el posicionamiento del sistema GPS, para ver cuáles de ellas pueden ser corregidas y cómo hacerlo. Con esto, se describen las técnicas existentes en GPS para mejorar la precisión, con carácter especial para los SBAS y AGPS. Éste último, en auge con la aparición de los smartphones. Por último, se introducen los Tracking Systems, uno de los grandes beneficiados por los sistemas de posicionamiento. Se analizan los diferentes sistemas existentes y se hace un pequeño estudio sobre una selección de los productos que el usuario puede encontrar en el mercado. Con esto, se pretende ofrecer al lector un idea global sobre los Tracking Systems y de sus posibles aplicaciones.English: There is no doubt that positioning systems has been one of the greatest improvements in technology in the last quarter of the 20th century. Knowing the position of any object everywhere in the world by calculations of the signals received by the satellites has revolutionized different areas. What began as a military advances race between the U.S.A. and the U.R.S.S. during the Cold War, nowadays it seems to belong to the civil users instead to their developers. It is so much so, that in recent years these systems have been modified to be opened to the civil users, even proliferating new non-military systems. This Thesis is divided in three parts. The first part includes an introduction about positioning and there is an examination of the different current positioning systems, as well as the systems that are being developed. Due to their significance, GPS, GLONASS and Galileo are described widely than the rest. Even though, the main objective of this Thesis is the GPS. In the second part, there is an examination of the error sources that affect the accuracy in GPS positioning, to explain which of them can be corrected and how. Moreover, one can find a description of the techniques to improve accuracy used in GPS, called Augmentation Systems, with special mention to SBAS and AGPS. This last one, very popular nowadays thanks to the Smartphoneà ¢â⠉⠢s. By last, there is an introduction about Tracking Systems, one of the most benefited by the positioning systems, in which is analyzed the different existing systems. Furthermore, a short description about a selection of significant products in the market is done. With this, the reader can get a global idea about the Tracking Systems and their possible applications

Robust GNSS Carrier Phase-based Position and Attitude Estimation Theory and Applications

Mención Internacional en el título de doctorNavigation information is an essential element for the functioning of robotic platforms and intelligent transportation systems. Among the existing technologies, Global Navigation Satellite Systems (GNSS) have established as the cornerstone for outdoor navigation, allowing for all-weather, all-time positioning and timing at a worldwide scale. GNSS is the generic term for referring to a constellation of satellites which transmit radio signals used primarily for ranging information. Therefore, the successful operation and deployment of prospective autonomous systems is subject to our capabilities to support GNSS in the provision of robust and precise navigational estimates. GNSS signals enable two types of ranging observations: –code pseudorange, which is a measure of the time difference between the signal’s emission and reception at the satellite and receiver, respectively, scaled by the speed of light; –carrier phase pseudorange, which measures the beat of the carrier signal and the number of accumulated full carrier cycles. While code pseudoranges provides an unambiguous measure of the distance between satellites and receiver, with a dm-level precision when disregarding atmospheric delays and clock offsets, carrier phase measurements present a much higher precision, at the cost of being ambiguous by an unknown number of integer cycles, commonly denoted as ambiguities. Thus, the maximum potential of GNSS, in terms of navigational precision, can be reach by the use of carrier phase observations which, in turn, lead to complicated estimation problems. This thesis deals with the estimation theory behind the provision of carrier phase-based precise navigation for vehicles traversing scenarios with harsh signal propagation conditions. Contributions to such a broad topic are made in three directions. First, the ultimate positioning performance is addressed, by proposing lower bounds on the signal processing realized at the receiver level and for the mixed real- and integer-valued problem related to carrier phase-based positioning. Second, multi-antenna configurations are considered for the computation of a vehicle’s orientation, introducing a new model for the joint position and attitude estimation problems and proposing new deterministic and recursive estimators based on Lie Theory. Finally, the framework of robust statistics is explored to propose new solutions to code- and carrier phase-based navigation, able to deal with outlying impulsive noises.La información de navegación es un elemental fundamental para el funcionamiento de sistemas de transporte inteligentes y plataformas robóticas. Entre las tecnologías existentes, los Sistemas Globales de Navegación por Satélite (GNSS) se han consolidado como la piedra angular para la navegación en exteriores, dando acceso a localización y sincronización temporal a una escala global, irrespectivamente de la condición meteorológica. GNSS es el término genérico que define una constelación de satélites que transmiten señales de radio, usadas primordinalmente para proporcionar información de distancia. Por lo tanto, la operatibilidad y funcionamiento de los futuros sistemas autónomos pende de nuestra capacidad para explotar GNSS y estimar soluciones de navegación robustas y precisas. Las señales GNSS permiten dos tipos de observaciones de alcance: –pseudorangos de código, que miden el tiempo transcurrido entre la emisión de las señales en los satélites y su acquisición en la tierra por parte de un receptor; –pseudorangos de fase de portadora, que miden la fase de la onda sinusoide que portan dichas señales y el número acumulado de ciclos completos. Los pseudorangos de código proporcionan una medida inequívoca de la distancia entre los satélites y el receptor, con una precisión de decímetros cuando no se tienen en cuenta los retrasos atmosféricos y los desfases del reloj. En contraposición, las observaciones de la portadora son super precisas, alcanzando el milímetro de exactidud, a expensas de ser ambiguas por un número entero y desconocido de ciclos. Por ende, el alcanzar la máxima precisión con GNSS queda condicionado al uso de las medidas de fase de la portadora, lo cual implica unos problemas de estimación de elevada complejidad. Esta tesis versa sobre la teoría de estimación relacionada con la provisión de navegación precisa basada en la fase de la portadora, especialmente para vehículos que transitan escenarios donde las señales no se propagan fácilmente, como es el caso de las ciudades. Para ello, primero se aborda la máxima efectividad del problema de localización, proponiendo cotas inferiores para el procesamiento de la señal en el receptor y para el problema de estimación mixto (es decir, cuando las incógnitas pertenecen al espacio de números reales y enteros). En segundo lugar, se consideran las configuraciones multiantena para el cálculo de la orientación de un vehículo, presentando un nuevo modelo para la estimación conjunta de posición y rumbo, y proponiendo estimadores deterministas y recursivos basados en la teoría de Lie. Por último, se explora el marco de la estadística robusta para proporcionar nuevas soluciones de navegación precisa, capaces de hacer frente a los ruidos atípicos.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidente: José Manuel Molina López.- Secretario: Giorgi Gabriele.- Vocal: Fabio Dovi

Benefits from a multi-receiver architecture for GNSS precise positioning

Precise positioning with a stand-alone GPS receiver or using differential corrections is known to be strongly degraded in an urban or sub-urban environment due to frequent signal masking, strong multipath effect, frequent cycle slips on carrier phase, etc. The objective of this Ph.D. thesis is to explore the possibility of achieving precise positioning with a low-cost architecture using multiple installed low-cost single-frequency receivers with known geometry whose one of them is RTK positioned w.r.t an external reference receiver. This setup is thought to enable vehicle attitude determination and RTK performance amelioration. In this thesis, we firstly proposed a method that includes an array of receivers with known geometry to enhance the performance of the RTK in different environments. Taking advantage of the attitude information and the known geometry of the installed array of receivers, the improvement of some internal steps of RTK w.r.t an external reference receiver can be achieved. The navigation module to be implemented in this work is an Extended Kalman Filter (EKF). The performance of a proposed two-receiver navigation architecture is then studied to quantify the improvements brought by the measurement redundancy. This concept is firstly tested on a simulator in order to validate the proposed algorithm and to give a reference result of our multi-receiver system’s performance. The pseudorange measurements and carrier phase measurements mathematical models are implemented in a realistic simulator. Different scenarios are conducted, including varying the distance between the 2 antennas of the receiver array, the satellite constellation geometry, and the amplitude of the noise measurement, in order to determine the influence of the use of an array of receivers. The simulation results show that our multi-receiver RTK system w.r.t an external reference receiver is more robust to noise and degraded satellite geometry, in terms of ambiguity fixing rate, and gets a better position accuracy under the same conditions when compared with the single receiver system. Additionally, our method achieves a relatively accurate estimation of the attitude of the vehicle which provides additional information beyond the positioning. In order to optimize our processing, the correlation of the measurement errors affecting observations taken by our array of receivers has been determined. Then, the performance of our real-time single frequency cycle-slip detection and repair algorithm has been assessed. These two investigations yielded important information so as to tune our Kalman Filter. The results obtained from the simulation made us eager to use actual data to verify and improve our multi-receiver RTK and attitude system. Tests based on real data collected around Toulouse, France, are used to test the performance of the whole methodology, where different scenarios are conducted, including varying the distance between the 2 antennas of the receiver array as well as the environmental conditions (open sky, suburban, and constrained urban environments). The thesis also tried to take advantage of a dual GNSS constellation, GPS and Galileo, to further strengthen the position solution and the reliable use of carrier phase measurements. The results show that our multi-receiver RTK system is more robust to degraded GNSS environments. Our experiments correlate favorably with our previous simulation results and further support the idea of using an array of receivers with known geometry to improve the RTK performance