## 1 Introduction  
Geodetic techniques are widely used for monitoring natural hazards and man-made structures, which, in cases of failure, can endanger people's lives. Various geodetic instruments and sensors can be used to monitor structures when high accuracy is required. Global Navigation Satellite System (GNSS) receivers have been classified as appropriate tools for such tasks, and their accuracy and precision have been improved over time [1; 2; 3; 4]. The ability to work in static and dynamic modes is an advantage that makes them suitable sensors for setting up highly accurate but costly monitoring systems [5; 6]. Low-cost GNSS receivers have been used in various positioning, navigation, and monitoring applications [7; 9; 10; 13; 14; 16; 17; 18]. Over short baselines and in open-sky environments, their performance has been excellent and comparable to high-end geodetic GNSS devices [11; 19; 20; 21]. Single- and multi-frequency low-cost GNSS receivers in combination with low-cost antennas have been proven to have satisfactory positioning performance in static and dynamic modes in open areas, where fewer multipath effects are expected, but their performance has been found to degrade in harsh environments [7; 16; 22]. The study in [12] evaluated u-blox single-frequency receivers in combination with geodetic antennas in static positioning mode. The authors concluded that these sensors can provide accurate positioning solutions over short baselines. [PERSON] and [PERSON] [10] tested the u-blox EVK-5T receiver with geodetic and low-cost antennas. The results indicate that low-cost receivers can have similar performance to geodetic ones when the observations last longer and the rover-base distance does not exceed 1 km. [PERSON] et al. [9] tested the NEO-M8P receiver in Real-Time Kinematic (RTK) according to the International Organization for Standardization (ISO) standard. It was shown that the equipment met the conditions specified by the ISO-17123-8 standard over a short baseline. The uncertainties were 5.5 mm and 11 mm for the horizontal and vertical components, respectively. High-end geodetic receivers exhibited better performance, and the uncertainties were 2.5 mm in the horizontal and 4.5 mm in the vertical component. The study in [17] evaluated low-cost receivers in open-sky conditions, where different criteria, such as ambiguity fixed rate, the accuracy of relative positioning, time of initialization, and other criteria were chosen for evaluation. The results showed that for all considered criteria, low-cost receivers were competitive with geodetic receivers in ultra-short (5 m) and short baselines (4110 m). [PERSON] and [PERSON] [11] reported that u-blox EVK-M8T (L1 + B1) with cost-effective antennas could obtain ambiguity resolution performance similar to that of dual-frequency (L1 + L2) geodetic GPS instruments. Five different types of low-cost single- and multi-frequency GNSS receivers were tested in rural, urban, and suburban environments in static and dynamic scenarios in RTK mode. In suburban and urban environments, all equipment showed degraded performance compared with rural environments. The mid-range receiver Hemisphere Eclipse P307 was better than all other low-cost receivers, and its price is 4-10 times lower [16]. The study in [19] tested EVK-M8T with a survey-grade antenna. The results show that single-frequency receivers can provide comparable results to geodetic instruments in RTK mode over short baselines. A dual-frequency receiver (ZED-F9P) with the u-blox ANN-MB-00 antenna was also evaluated in RTK mode, and the performance was comparable to that of geodetic receivers over a short baseline but degraded over long baselines [21]. [PERSON] et al. [23] evaluated multi-frequency low-cost receivers in combination with u-blox and Trimble R10 antennas in RTK mode in both static and dynamic scenarios. In the static scenario, the results obtained with the u-blox antenna were similar to those obtained with Trimble R10.