## 4 Results and Discussion  
### Entire Trajectory: Static and Kinematic Sessions  
This scenario consisted of a static session (10 min) at the beginning of the survey, a kinematic session that lasted approximately 50 min, and a final 10 min static session after calibration of the Applanix system. The comparison of the solutions of GPS and GNSS (Tables 3 and 4, Figure 8) shows that in the case of GNSS, many more positions could be obtained on the whole trajectory when the observations were processed in the multi-constellation mode. For the Xiaomi Mi8 phone, almost all ambiguities were determined as floats, although the range of deviations in distances was in the same range as for the u-bloxes, albeit it is still slightly worse. \begin{table}
\begin{tabular}{l c c c c} \hline \hline \multicolumn{5}{c}{**Type of GNSS Device**} \\ \hline \multirow{2}{*}{**Parameters**} & **Sepentratio** & **u-blox** & **u-blox** & **Smartphone** \\  & **AsteRx-U** & **ZED-F9P** & **ZED-F9R** & **Xiaomi Mi8** \\ \hline GNSS solutions & 4171 (81.0\%) & 3831 (74.4\%) & 3764 (73.1\%) & 3951 (76.8\%) \\ Fixed ambiguities & 2176 (52.2\%) & 1995 (52.1\%) & 2095 (55.7\%) & 30 (0.8\%) \\ \hline \(\mathit{dev}_{\mathit{d}2D}<1\) m & 3369 (65.4\%) & 3279 (63.7\%) & 3264 (63.4\%) & 2177 (42.3\%) \\ \(\mathit{dev}_{\mathit{d}2D}<30\) cm & 2940 (57.1\%) & 1798 (34.9\%) & 1963 (38.1\%) & 719 (14.0\%) \\ \(\mathit{dev}_{\mathit{d}2D}<10\) cm & 2420 (47.0\%) & 1032 (20.0\%) & 1370 (26.6\%) & 243 (4.7\%) \\ \hline \(\mathit{dev}_{\mathit{d}3D}<1\) m & 3123 (60.7\%) & 2215 (60.7\%) & 2814 (54.7\%) & 1326 (25.8\%) \\ \(\mathit{dev}_{\mathit{d}3D}<30\) cm & 2832 (55.0\%) & 1702 (33.1\%) & 1318 (25.6\%) & 261 (5.1\%) \\ \(\mathit{dev}_{\mathit{d}3D}<10\) cm & 2233 (43.4\%) & 335 (6.5\%) & 943 (18.3\%) & 0 (0.0\%) \\ \hline \hline \end{tabular}
\end{table} 
Table 4: GNSS solutions, solutions with fixed ambiguities, and deviation of distances below the given threshold. Situation: entire trajectory (static and kinematic: total solutions 5148). Figure 8: Entire trajectory (static and kinematic): (**a**) GPS solutions; (**b**) GNSS solutions. Each bar in a group shows: available solutions (1 st bar), percentage of fixed solutions (2 nd bar), deviation at horizontal distances (3 rd bar, where light blue is for thresholds less than 10 cm, green is for thresholds less than 30 cm, and brown is for thresholds less than 1 m), and 4 th bar shows deviation at spatial distances (yellow, green, and dark red for 10 cm, 30 cm, and 1 m thresholds, respectively). \begin{table}
\begin{tabular}{l c c c c} \hline \hline \multicolumn{5}{c}{**Type of GNSS Device**} \\ \hline \multirow{2}{*}{**Parameters**} & **Sepentratio** & **u-blox** & **u-blox** & **Smartphone** \\  & **AsteRx-U** & **ZED-F9P** & **ZED-F9R** & **Xiaomi Mi8** \\ \hline GPS solutions & 3628 (70.5\%) & 3174 (61.7\%) & 3125 (60.1\%) & 3286 (63.8\%) \\ Fixed ambiguities & 2320 (64.0\%) & 644 (20.3\%) & 1204 (38.5\%) & 33 (1.0\%) \\ \hline \(\mathit{dev}_{\mathit{d}2D}<1\) m & 3168 (61.5\%) & 2869 (55.7\%) & 2832 (55.0\%) & 2287 (44.4\%) \\ \(\mathit{dev}_{\mathit{d}2D}<30\) cm & 2907 (56.5\%) & 1344 (26.1\%) & 1537 (29.9\%) & 912 (17.7\%) \\ \(\mathit{dev}_{\mathit{d}2D}<10\) cm & 2443 (47.5\%) & 906 (17.6\%) & 1146 (22.3\%) & 31 (0.6\%) \\ \hline \(\mathit{dev}_{\mathit{d}3D}<1\) m & 2889 (56.1\%) & 2611 (50.7\%) & 2428 (47.2\%) & 1651 (32.1\%) \\ \(\mathit{dev}_{\mathit{d}3D}<30\) cm & 2712 (53.7\%) & 1294 (25.1\%) & 1085 (21.1\%) & 473 (9.2\%) \\ \(\mathit{dev}_{\mathit{d}3D}<10\) cm & 2300 (44.7\%) & 130 (2.5\%) & 849 (16.5\%) & 0 (0\%) \\ \hline \hline \end{tabular}
\end{table} 
Table 3: GPS solutions, solutions with fixed ambiguities, and deviation of distances below the given threshold. Situation for the entire trajectory: total solutions 5148). From Figure 8, it can be seen that the Sepentrio AsteRx-U receiver outperformed all the other receivers both in terms of the number of total solutions and the number of fixed solutions.