{"id":"https://openalex.org/W7166738467","doi":"https://doi.org/10.48550/arxiv.2606.29192","title":"Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations","display_name":"Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations","publication_year":2026,"publication_date":"2026-06-28","ids":{"openalex":"https://openalex.org/W7166738467","doi":"https://doi.org/10.48550/arxiv.2606.29192"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.29192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29192","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.29192","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103228304","display_name":"Xingpeng Wang","orcid":"https://orcid.org/0009-0007-3674-6014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xingpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139654400","display_name":"Ziwen Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qu, Ziwen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130447834","display_name":"Juncheng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Juncheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108875694","display_name":"Ruitian Pang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Ruitian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139673796","display_name":"Xiangyu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xiangyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138450750","display_name":"Tiancheng Lai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lai, Tiancheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139672325","display_name":"Siqi Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Siqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139658412","display_name":"Wentao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Wentao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139706930","display_name":"Pengfei Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Pengfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139665933","display_name":"Chao Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Chao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139649177","display_name":"Yanjun Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Yanjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5893999934196472,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5893999934196472,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.1111999973654747,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.1088000014424324,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8101000189781189},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6708999872207642},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5608000159263611},{"id":"https://openalex.org/keywords/real-time-kinematic","display_name":"Real Time Kinematic","score":0.5544000267982483},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5325999855995178},{"id":"https://openalex.org/keywords/receiver-autonomous-integrity-monitoring","display_name":"Receiver autonomous integrity monitoring","score":0.5002999901771545},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4327000081539154},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.42309999465942383}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8101000189781189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6815000176429749},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6708999872207642},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5608000159263611},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5608000159263611},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.5544000267982483},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5325999855995178},{"id":"https://openalex.org/C94821174","wikidata":"https://www.wikidata.org/wiki/Q2135146","display_name":"Receiver autonomous integrity monitoring","level":4,"score":0.5002999901771545},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4327000081539154},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.42309999465942383},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.40689998865127563},{"id":"https://openalex.org/C36301306","wikidata":"https://www.wikidata.org/wiki/Q179435","display_name":"Satellite navigation","level":3,"score":0.4036000072956085},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.34299999475479126},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.33889999985694885},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C39399123","wikidata":"https://www.wikidata.org/wiki/Q1348989","display_name":"Earth observation","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2581999897956848}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.29192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29192","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.29192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29192","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.6438834071159363,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Global":[0],"Navigation":[1],"Satellite":[2],"System":[3],"(GNSS)":[4],"navigation":[5,29],"is":[6,126],"widely":[7],"used":[8,37],"to":[9,132,183],"provide":[10],"absolute,":[11],"outdoor":[12],"positioning":[13],"in":[14,18],"field":[15],"robotics.":[16],"Advances":[17],"Real-Time":[19],"Kinematic":[20],"(RTK)":[21],"technology":[22],"can":[23],"achieve":[24],"centimeter-level":[25],"accuracy,":[26],"facilitating":[27],"autonomous":[28,197],"tasks.":[30],"However,":[31],"the":[32,42,105,118,174],"cost":[33],"and":[34,44,147,193],"extra":[35],"infrastructure":[36],"for":[38,196],"RTK":[39],"still":[40],"hinder":[41],"application":[43],"more":[45],"cost-effective":[46,192],"solutions":[47],"are":[48],"desired.":[49],"In":[50],"this":[51],"letter,":[52],"we":[53,111],"present":[54],"a":[55,84,113,122,129,148,177],"novel":[56],"tightly-coupled":[57],"state":[58,125],"estimation":[59],"framework":[60],"that":[61,88,170],"achieves":[62],"high-precision":[63],"localization":[64],"by":[65],"using":[66],"low-cost,":[67],"mass-market":[68],"single-frequency":[69,143,178],"GNSS":[70],"receivers":[71],"with":[72,93,142],"any":[73],"relative":[74,91],"motion":[75,92],"sensors":[76],"(e.g.,":[77],"wheel":[78],"encoder,":[79],"camera,":[80],"LiDAR).":[81],"We":[82],"propose":[83],"sliding-window":[85],"factor":[86],"graph":[87],"integrates":[89],"generic":[90],"global":[94,134],"epoch-to-anchor":[95,135],"constraints":[96],"derived":[97],"from":[98,180],"continuous":[99],"carrier":[100],"phase":[101],"tracking.":[102],"To":[103],"eliminate":[104],"reliance":[106],"on":[107,158,164],"physical":[108],"base":[109],"stations,":[110],"introduce":[112],"virtual":[114,130],"anchor":[115],"mechanism:":[116],"upon":[117],"initial":[119],"observation":[120],"of":[121,176],"satellite,":[123],"its":[124],"locked":[127],"as":[128],"reference":[131],"establish":[133],"constraints.":[136],"By":[137],"substituting":[138],"multi-frequency":[139],"hardware":[140],"redundancy":[141],"multi-modal":[144],"kinematic":[145],"priors":[146],"robust":[149],"cycle-slip":[150],"recovery":[151],"technique,":[152],"our":[153,171],"approach":[154],"ensures":[155],"carrier-phase":[156],"integrity":[157],"cheap":[159],"receivers.":[160],"Extensive":[161],"real-world":[162],"experiments":[163],"heterogeneous":[165],"low-cost":[166],"sensor":[167],"suites":[168],"validate":[169],"method":[172],"improves":[173],"accuracy":[175],"receiver":[179],"several":[181],"meters":[182],"decimeter-level":[184],"precision":[185],"across":[186],"diverse":[187],"environments,":[188],"providing":[189],"an":[190],"accurate,":[191],"reliable":[194],"alternative":[195],"navigation.":[198]},"counts_by_year":[],"updated_date":"2026-07-01T06:29:00.853634","created_date":"2026-07-01T00:00:00"}
