Only recommend relatively suitable papers, or relatively suitable papers that I found in a short time.
It is still difficult to find a relatively basic doctoral or master's thesis. After reading the papers ten years ago, I found a doctoral thesis on the relatively systematic RTK basic algorithm.
RTK-related doctoral dissertations
The first paper "Research on GNSS Dynamic Relative Positioning Algorithm" (University of Information Engineering, Li Junyi)
This article is used as a supplement to the textbook to make up for the lack of detailed descriptions of the RTK algorithm in the textbook.
Consistent with what was mentioned in the previous section, the part in the red box is recommended to read carefully, and the part in yellow box is recommended to understand.
In fact, I also collected some other less "systematic" doctoral and master's thesis, and put them on the network disk. If you are interested, you can also expand your reading. See the end of the article for details on how to obtain it.
RTK related journal papers
Recommend two journal papers
The reason for the first recommendation is that the single-difference ambiguity it uses is similar to the ambiguity processing idea in RTKLIB.
RTKLIB adopts the ambiguity form of single-difference between stations, but uses the pseudorange and carrier to calculate an initial value of single-difference ambiguity to prevent rank deficiency.
When the ambiguity is fixed, the ambiguity of single-difference between stations is converted into double-difference ambiguity of station and satellite, and its integer characteristics are restored.
After the fixation is successful, the double difference is constrained to fix the ambiguity to improve the positioning accuracy.
The second paper, which is also a traditional short-baseline RTK algorithm, has no bright spots. But in 2014, having BDS involved was a highlight in itself.
Of course, the knowledge structure of the RTK algorithm can be further expanded through these two references.
PPP Doctoral Dissertation
Recommend a PPP (Precise Point Positioning) doctoral thesis
"Research on Fast Fixing Technology and Method of GNSS Precise Single Point Positioning Ambiguity" (Li Pan, Wuhan University)
In PPP technology, it is necessary to consider all centimeter-level errors, and even some millimeter-level errors, so reading the PPP doctoral dissertation can facilitate everyone to better understand the characteristics of the entire GNSS system.
The chapters in the red box are recommended to be read.
The stochastic model of observations used in RTKLIB is also described in 2.1.2.1.
At the same time, cycle slip detection is also a critical process for data preprocessing.
Partial ambiguity fixation is very effective in engineering practice, but the selection of the full set of ambiguities in RTKLIB will result in a relatively low fixation rate. 4.3 Partial ambiguity subset selection method can be recommended reading.
Of course, engineering practice may not simply use an indicator as a criterion for subset selection, and there will be more experience in it.
The quality of the pictures uploaded by Zhihu is a bit poor and blurry. You can move to my personal official account, and the pictures of historical tweets will be clearer.
In fact, after nearly forty years of development of GNSS, various research results have been very rich, and the research directions covered by it can be regarded as flourishing. Although some technical directions may have been gradually submerged in the "long river of history", journal papers are still "remembered".
Perhaps what you think is an innovative point, others have already done detailed research. What you think is difficult, in fact, seniors have already "tested the water" painstakingly.
I hope you don't just focus on various blogs. After all, blogs are not as rigorous as papers. Once you have a certain foundation, you can start reading the literature. You can search for the method of reading the literature by yourself.
For papers, please reply to RTK papers in the background of the official account to get them.
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Sometimes codes or resources are placed on the personal official account. If you have any questions, you can reply in the background of the official account, and the answer is faster. Welcome to pay attention to GNSS and automatic driving
Summary of links to other related articles
How Xiaobai learns GNSS (1) - Wutong Fighting Blog - CSDN Blog
GNSS Algorithm Learning Series Tutorial - Article List_Indus Fighting's Blog-CSDN Blog