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The Wide Area RTK (WARTK) concept was introduced in the late 1990s by the [http://www.gage.es/ Research Group of Astronomy and Geomatics (gAGE)] from the Technical University of Catalonia (UPC). The WARTK method increases the RTK/NRTK service area, with permanent stations separated by up to 500–900 kilometers. RTK reference stations should be of the order of ten km distance from rover, because the ionosphere produces ambiguity estimation biases that lead to positioning error above 1 meter. The main [[WARTK Fundamentals|WARTK techniques]] are related to an accurate real-time computation of ionospheric corrections, combined with an optimal processing of GNSS observables (carrier phases in particular) in both 2 and 3-frequency GNSS systems.


The Wide Area RTK (WARTK) concept was introduced in the late 1990s by the [http://www.gage.es/ Research Group of Astronomy and Geomatics (gAGE)] from the Technical University of Catalonia (UPC).
==WARTK Standards==
 
==Wide-Area Real-Time Kinematics (WARTK)==
 
During the last few years, the group gAGE/UPC has developed the so-called Wide-Area Real-Time Kinematics (WARTK) technique, which allows the extension of local services based on the real-time carrier phase ambiguity resolution to wide-area scale (i.e. baselines between the rover and reference stations greater than 100 km), for both dual-frequency (GPS) and 3-frequency systems (Galileo and modernised GPS). The Wide-Area Real-Time Kinematics (WARTK) technique for dual and 3-frequency systems are based on an optimal combination of accurate ionospheric and geodetic models in a permanent reference stations network. The main factor limiting the range extension of the RTK technique beyond a few tens of kilometres is the differential ionospheric correction between the roving and the nearest reference GNSS station. Such ionospheric correction impedes the real-time ambiguity fixing, and therefore the corresponding accurate navigation at sub-decimetre level. The ionosphere produces ambiguity biases and correlations whose mitigation becomes the main problem to sort out. Even with the aid of multi-reference-station techniques, due to the baseline limitation (<20 km), several thousands would be required to cover such a service to the whole European region, obviously unaffordable from a logistic and economic point of view.
 
The main techniques supporting WARTK are related to an accurate real-time computation of ionospheric corrections, combined with an optimal processing of GNSS observables (carrier phases in particular) in both 2 and 3-frequency systems. The method dramatically increases the RTK/NRTK service area, with permanent stations separated by up to 500–900 kilometers — all while requiring 100 to 1,000 times fewer receivers covering a given region. Besides the feasibility of WARTK at the positioning level, recent studies have confirmed that WARTK also assures integrity.<ref> Hernández-Pajares et al, ''Feasibility Study of a European Wide Area Real Time Kinematic System,'' invited talk in 4th ESA Workshop on Satellite Navigation User Equipment Technologies (Navitec), ESTEC, Noordwijk, The Netherlands, December 2008</ref>
 
The target market should be a market line where the enhancement provided by the WARTK technique is needed, such as sub-decimetre accuracy, orientation and wide-area service coverage. It would be mandatory to have institutional support due to the extended permanent receiver network involved to perform such techniques. The EGNOS RIMS network would be a feasible possibility and it would diminish the initial investment for the prototype. The time-to-market should be reduced to the minimum since the current GNSS systems, already on the market, could evolve in the direction of WARTK (e.g., cheaper dual-frequency receivers). The following markets have been identified as the most suitable for the different applications that WARTK is able to provide at this stage of development: accurate navigation in deep seas, tsunami detection, instant meteorology, civil construction, precision farming, orientation, cadastral coverage, real-time wide-area mapping and auto-piloting.<ref>[http://www.gsa.europa.eu/index.cfm?objectid=42B6F1B2-A906-2D88-C40D0B75612EDD2D WARTK-EGAL Project WebPage]</ref>


==WARTK Related Articles==
As WARTK is based on RTK, the same standards applied in [[RTK Standards|RTK]] could be applicable to WARTK. The main difference is that the ionospheric delay is not assumed to be the same as the reference station but it is broadcasted to the users, implying additional messages. This ionospheric delay is computed in a CPF using a real-time model of ionosphere. The main features of the [[WARTK Fundamentals|WARTK technique]] for dual-frequency and three-frequency data are patented:<ref>[http://gage.upc.edu/forum/wide-area-rtk WARTK patents in gAGE group webpage]</ref>
* Wide Area RTK (WARTK), in 1999. UPC-Patent Nbr.992585.
* WARTK for 3 frequencies (WARTK-3), in 2002. ESA Patent Nbr.02-12627.


==Notes==
==Notes==

Latest revision as of 12:42, 27 July 2018


FundamentalsFundamentals
Title WARTK Standards
Edited by GMV
Level Basic
Year of Publication 2011
Logo GMV.png

The Wide Area RTK (WARTK) concept was introduced in the late 1990s by the Research Group of Astronomy and Geomatics (gAGE) from the Technical University of Catalonia (UPC). The WARTK method increases the RTK/NRTK service area, with permanent stations separated by up to 500–900 kilometers. RTK reference stations should be of the order of ten km distance from rover, because the ionosphere produces ambiguity estimation biases that lead to positioning error above 1 meter. The main WARTK techniques are related to an accurate real-time computation of ionospheric corrections, combined with an optimal processing of GNSS observables (carrier phases in particular) in both 2 and 3-frequency GNSS systems.

WARTK Standards

As WARTK is based on RTK, the same standards applied in RTK could be applicable to WARTK. The main difference is that the ionospheric delay is not assumed to be the same as the reference station but it is broadcasted to the users, implying additional messages. This ionospheric delay is computed in a CPF using a real-time model of ionosphere. The main features of the WARTK technique for dual-frequency and three-frequency data are patented:[1]

  • Wide Area RTK (WARTK), in 1999. UPC-Patent Nbr.992585.
  • WARTK for 3 frequencies (WARTK-3), in 2002. ESA Patent Nbr.02-12627.

Notes


References

  1. ^ WARTK patents in gAGE group webpage
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