Relative Precise Positioning based on Moving Baseline and the Effect of Uncommon Satellite Combination

For drone swarm flight, it is important that the drone's position is determined quickly and accurately. Therefore, in general, the single reference RTK(Real Time Kinematics) method using a ground reference station is used. However, in the RTK method using ground reference station, as the distance between the drone and reference station increases, the reception rate of the correction information may decrease or may not be able to receive it at all. It can cause problems in drone operation and control. Therefore, using the principle of single reference RTK, moving baseline RTK is proposed as a method that can do RTK without using a ground reference station. In this method, RTK is performed by designating one antibody participating in the swarm flight as a moving base and the dynamic of the moving base is compensated through its velocity compensation. Also, there is a possibility that an error may occur as a uncommon satellite combination is used in the velocity calculation because there is a difference in the visible satellites between the moving base and other antibodies. However, the change in satellite combination did not significantly affect the results.