Absolute phase center calibration of low-cost GNSS patch antennas &#8211; Is it worth the effort?
Authors: Moeller Gregor , Piringer Felix , Pérez Ortega María , Presl Robert , Rothacher Markus 
Published: March 2021

&lt;p&gt;GNSS antennas are a key factor in precise GNSS positioning. With the increasing availability of low-cost dual-frequency GNSS receivers also the demands on low-cost GNSS antennas increases. Unfortunately, the electronic center of most GNSS antennas is not located in the mechanical Antenna Reference Point (ARP). As a consequence, Phase Center Corrections (PCC) have to be introduced to correct for frequency-dependent signal delays within the antenna system. The PCCs are typically in the range of several millimeters to centimeters. Thus, uncorrected phase center variations can be a significant error source in precise positioning.&lt;/p&gt;&lt;p&gt;For the purpose of antenna calibration, the Institute of Geodesy and Photogrammetry at ETH Z&amp;#252;rich acquired a six-axis industrial robot of type KUKA AGILUS KR 6 R900 sixx. In an initial study, the absolute accuracy of the robot has been determined to be better than 1.5 mm (standard deviation). By introducing a set of extended Denavit-Hartenberg parameters, the absolute position accuracy of the robot is further increased to 0.3 mm over the entire workspace and 0.1 mm for a predefined sequence of robot poses, respectively. Therefore, the robot operates well below the phase noise of the GNSS measurements (typically around 1 mm) and is therefore seen as suitable for the calibration of GNSS antennas with sub-millimeter accuracy.&lt;/p&gt;&lt;p&gt;Besides the numerous benefits of absolute field calibration with an industrial robot, several challenges remain if it comes to low-cost GNSS antennas. The main challenges are that for each antenna a specific mounting system has to be built and that low-cost antennas are in general less shielded against multipath (compared to geodetic antennas). Besides, only little information exists about the stability of the electronic reference point and how much the electronic properties change when the antenna is mounted on different platforms (cars, drones, cubesats, etc).&lt;/p&gt;&lt;p&gt;To address the critical issues in low-cost GNSS antenna calibration and study the impact of the PCCs on the positioning solution, a calibration campaign has been initiated at ETH Z&amp;#252;rich in autumn 2020. In this campaign, a set of low-cost multi-GNSS dual-frequency patch and loop antennas - suited for centimeter-positioning - has been calibrated and tested. Therefore, in the vicinity of the GNSS reference station (ETH2) the robot has been installed and a sequence of randomized robot poses has been executed in which the ARP of each antenna was defined as rotation point. The GNSS signals recorded during this sequence were processed together with the robot attitude information using the time-differencing approach defined by D. Willi (2019) using a spherical harmonics parameterization.&lt;/p&gt;&lt;p&gt;The PCCs obtained from the calibration campaign were stored in ANTEX files for a subsequent validation. In this presentation, we will highlight the developed calibration procedures for low-cost GNSS antennas, summarize the main results of the calibration and validation campaign, and will give the framework in which a calibration of low-cost GNSS antennas is considered beneficial.&lt;/p&gt;&lt;p&gt;Willi D., GNSS receiver synchronization and antenna calibration, PhD Thesis, ETH Z&amp;#252;rich, 2019, https://www.research-collection.ethz.ch/handle/20.500.11850/308750&lt;/p&gt;