Comparison of Static and Kinematic GNSS Positioning Performance Using Qinertia Software
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This study evaluates the performance of Global Navigation Satellite System (GNSS) data processing using the Qinertia software (SBG Systems). Three processing modes—Single Base Station (SBS) Post-Processing Kinematic (PPK), Virtual Base Station (VBS) PPK, and Precise Point Positioning (PPP)—were applied to both static and kinematic positioning scenarios. The results were compared against coordinates derived from the high-precision GipsyX scientific software as well as real-time highaccuracy methods including Real-Time Kinematic (RTK) and Virtual Reference Station (VRS) RTK. For static positioning, all three methods achieved high accuracy, with average horizontal and vertical root mean square error (RMSE) of 0.8 cm and 1.5 cm, respectively, relative to GipsyX and RTK reference solutions. Notably, VBS PPK maintained a fix rate of approximately 99% for baseline distances exceeding 30 km. In kinematic positioning, both SBS-PPK and VBS-PPK achieved centimeter-level accuracy compared to VRS-RTK. Under open-sky conditions, average horizontal and vertical RMSE were 3.5 cm and 2.5 cm, respectively, while in dense urban environments they were 3.0 cm and 5.8 cm. Performance differences between the two PPK methods under open-sky conditions were minimal, within about 1-2 cm.
Abstract
This study evaluates the performance of Global Navigation Satellite System (GNSS) data processing using the Qinertia software (SBG Systems). Three processing modes—Single Base Station (SBS) Post-Processing Kinematic (PPK), Virtual Base Station (VBS) PPK, and Precise Point Positioning (PPP)—were applied to both static and kinematic positioning scenarios. The results were compared against coordinates derived from the high-precision GipsyX scientific software as well as real-time highaccuracy methods including Real-Time Kinematic (RTK) and Virtual Reference Station (VRS) RTK. For static positioning, all three methods achieved high accuracy, with average horizontal and vertical root mean square error (RMSE) of 0.8 cm and 1.5 cm, respectively, relative to GipsyX and RTK reference solutions. Notably, VBS PPK maintained a fix rate of approximately 99% for baseline distances exceeding 30 km. In kinematic positioning, both SBS-PPK and VBS-PPK achieved centimeter-level accuracy compared to VRS-RTK. Under open-sky conditions, average horizontal and vertical RMSE were 3.5 cm and 2.5 cm, respectively, while in dense urban environments they were 3.0 cm and 5.8 cm. Performance differences between the two PPK methods under open-sky conditions were minimal, within about 1-2 cm.