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55-496: RTK may refer to: Science and technology [ edit ] Real-time kinematic positioning , a technique for precision satellite navigation Receptor tyrosine kinase , high-affinity cell surface receptors Other uses [ edit ] Radio Television of Kosovo , public service broadcaster in Kosovo Rentech (NYSE symbol), a former US company Right to know ,

110-451: A phase reversal or phase inversion implies a 180-degree phase shift. When the phase difference φ ( t ) {\displaystyle \varphi (t)} is a quarter of turn (a right angle, +90° = π/2 or −90° = 270° = −π/2 = 3π/2 ), sinusoidal signals are sometimes said to be in quadrature , e.g., in-phase and quadrature components of a composite signal or even different signals (e.g., voltage and current). If

165-924: A simple harmonic oscillation or sinusoidal signal is the value of φ {\textstyle \varphi } in the following functions: x ( t ) = A cos ⁡ ( 2 π f t + φ ) y ( t ) = A sin ⁡ ( 2 π f t + φ ) = A cos ⁡ ( 2 π f t + φ − π 2 ) {\displaystyle {\begin{aligned}x(t)&=A\cos(2\pi ft+\varphi )\\y(t)&=A\sin(2\pi ft+\varphi )=A\cos \left(2\pi ft+\varphi -{\tfrac {\pi }{2}}\right)\end{aligned}}} where A {\textstyle A} , f {\textstyle f} , and φ {\textstyle \varphi } are constant parameters called

220-466: A 1% accuracy in locking. For instance, in the case of GPS, the coarse-acquisition (C/A) code, which is broadcast in the L1 signal, changes phase at 1.023 MHz, but the L1 carrier itself is 1575.42 MHz, which changes phase over a thousand times more often. A ±1% error in L1 carrier-phase measurement thus corresponds to a ±1.9 mm error in baseline estimation. In practice, RTK systems use

275-400: A cycle. This concept can be visualized by imagining a clock with a hand that turns at constant speed, making a full turn every T {\displaystyle T} seconds, and is pointing straight up at time t 0 {\displaystyle t_{0}} . The phase φ ( t ) {\displaystyle \varphi (t)} is then the angle from

330-411: A full turn: φ = 2 π [ [ τ T ] ] . {\displaystyle \varphi =2\pi \left[\!\!\left[{\frac {\tau }{T}}\right]\!\!\right].} If F {\displaystyle F} is a "canonical" representative for a class of signals, like sin ⁡ ( t ) {\displaystyle \sin(t)}

385-595: A human right enshrined in law Remembering the Kanji ( RTK1 , RTK2 , RTK3 ), books teaching Japanese Kanji Topics referred to by the same term [REDACTED] This disambiguation page lists articles associated with the title RTK . If an internal link led you here, you may wish to change the link to point directly to the intended article. Retrieved from " https://en.wikipedia.org/w/index.php?title=RTK&oldid=1224835178 " Category : Disambiguation pages Hidden categories: Short description

440-421: A microphone. This is usually the case in linear systems, when the superposition principle holds. For arguments t {\displaystyle t} when the phase difference is zero, the two signals will have the same sign and will be reinforcing each other. One says that constructive interference is occurring. At arguments t {\displaystyle t} when the phases are different,

495-535: A more precise modeling of distance-dependent systematic errors principally caused by ionospheric and tropospheric refractions, and satellite orbit errors. More specifically, a GNSS network decreases the dependence of the error budget on the distance of nearest antenna. Phase (waves) In physics and mathematics , the phase (symbol φ or ϕ) of a wave or other periodic function F {\displaystyle F} of some real variable t {\displaystyle t} (such as time)

550-442: A network of reference stations. A typical CORS setup consists of a single reference station from which the raw data (or corrections) are sent to the rover receiver (i.e., the user). The user then forms the carrier phase differences (or corrects their raw data) and performs the data processing using the differential corrections. In contrast, GNSS network architectures often make use of multiple reference stations. This approach allows

605-417: A periodic soundwave recorded by two microphones at separate locations. Or, conversely, they may be periodic soundwaves created by two separate speakers from the same electrical signal, and recorded by a single microphone. They may be a radio signal that reaches the receiving antenna in a straight line, and a copy of it that was reflected off a large building nearby. A well-known example of phase difference

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660-431: A shifted and possibly scaled version G {\displaystyle G} of it. That is, suppose that G ( t ) = α F ( t + τ ) {\displaystyle G(t)=\alpha \,F(t+\tau )} for some constants α , τ {\displaystyle \alpha ,\tau } and all t {\displaystyle t} . Suppose also that

715-401: A single base-station receiver and a number of mobile units. The base station re-broadcasts the phase of the carrier that it observes, and the mobile units compare their own phase measurements with the one received from the base station. There are several ways to transmit a correction signal from base station to mobile station. The most popular way to achieve real-time, low-cost signal transmission

770-423: A sonic phase difference occurs in the warble of a Native American flute . The amplitude of different harmonic components of same long-held note on the flute come into dominance at different points in the phase cycle. The phase difference between the different harmonics can be observed on a spectrogram of the sound of a warbling flute. Phase comparison is a comparison of the phase of two waveforms, usually of

825-495: Is a "canonical" function for a class of signals, like sin ⁡ ( t ) {\displaystyle \sin(t)} is for all sinusoidal signals, then φ {\displaystyle \varphi } is called the initial phase of G {\displaystyle G} . Let the signal F {\displaystyle F} be a periodic function of one real variable, and T {\displaystyle T} be its period (that is,

880-581: Is a "canonical" function of a phase angle in 0 to 2π, that describes just one cycle of that waveform; and A {\displaystyle A} is a scaling factor for the amplitude. (This claim assumes that the starting time t 0 {\displaystyle t_{0}} chosen to compute the phase of F {\displaystyle F} corresponds to argument 0 of w {\displaystyle w} .) Since phases are angles, any whole full turns should usually be ignored when performing arithmetic operations on them. That is,

935-528: Is a function of an angle, defined only for a single full turn, that describes the variation of F {\displaystyle F} as t {\displaystyle t} ranges over a single period. In fact, every periodic signal F {\displaystyle F} with a specific waveform can be expressed as F ( t ) = A w ( φ ( t ) ) {\displaystyle F(t)=A\,w(\varphi (t))} where w {\displaystyle w}

990-478: Is a network of RTK base stations that broadcast corrections, usually over an Internet connection. Accuracy is increased in a CORS network, because more than one station helps ensure correct positioning and guards against a false initialization of a single base station. A Virtual Reference Network (VRN) can similarly enhance precision without using a base station, using virtual reference stations (VRS), instead. The concept can help to satisfy this requirement using

1045-486: Is accurate only to the same accuracy as the computed position of the base station. For RTK with a single base station, accuracy of 8mm + 1ppm (parts per million / 1mm per km) horizontal and 15mm + 1ppm vertical relative to the base station can be achieved, depending on the device.   For example, with a base station 16 km (slightly less than 10 miles) away, relative horizontal error would be 8mm + 16mm = 24mm (slightly less than an inch). Although these parameters limit

1100-558: Is an angle -like quantity representing the fraction of the cycle covered up to t {\displaystyle t} . It is expressed in such a scale that it varies by one full turn as the variable t {\displaystyle t} goes through each period (and F ( t ) {\displaystyle F(t)} goes through each complete cycle). It may be measured in any angular unit such as degrees or radians , thus increasing by 360° or 2 π {\displaystyle 2\pi } as

1155-514: Is defined the same way, except with "360°" in place of "2π". With any of the above definitions, the phase φ ( t ) {\displaystyle \varphi (t)} of a periodic signal is periodic too, with the same period T {\displaystyle T} : φ ( t + T ) = φ ( t )  for all  t . {\displaystyle \varphi (t+T)=\varphi (t)\quad \quad {\text{ for all }}t.} The phase

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1210-405: Is different from Wikidata All article disambiguation pages All disambiguation pages Real-time kinematic positioning The distance between a satellite navigation receiver and a satellite can be calculated from the time it takes for a signal to travel from the satellite to the receiver. To calculate the delay, the receiver must align a pseudorandom binary sequence contained in

1265-631: Is either identically zero, or is a sinusoidal signal with the same period and phase, whose amplitude is the difference of the original amplitudes. The phase shift of the co-sine function relative to the sine function is +90°. It follows that, for two sinusoidal signals F {\displaystyle F} and G {\displaystyle G} with same frequency and amplitudes A {\displaystyle A} and B {\displaystyle B} , and G {\displaystyle G} has phase shift +90° relative to F {\displaystyle F} ,

1320-410: Is for all sinusoidal signals, then the phase shift φ {\displaystyle \varphi } called simply the initial phase of G {\displaystyle G} . Therefore, when two periodic signals have the same frequency, they are always in phase, or always out of phase. Physically, this situation commonly occurs, for many reasons. For example, the two signals may be

1375-439: Is said to be "at the same phase" at two argument values t 1 {\displaystyle t_{1}} and t 2 {\displaystyle t_{2}} (that is, φ ( t 1 ) = φ ( t 2 ) {\displaystyle \varphi (t_{1})=\varphi (t_{2})} ) if the difference between them is a whole number of periods. The numeric value of

1430-402: Is the test frequency , and the bottom sine signal represents a signal from the reference. If the two frequencies were exactly the same, their phase relationship would not change and both would appear to be stationary on the oscilloscope display. Since the two frequencies are not exactly the same, the reference appears to be stationary and the test signal moves. By measuring the rate of motion of

1485-400: Is the length of shadows seen at different points of Earth. To a first approximation, if F ( t ) {\displaystyle F(t)} is the length seen at time t {\displaystyle t} at one spot, and G {\displaystyle G} is the length seen at the same time at a longitude 30° west of that point, then the phase difference between

1540-538: Is to use a radio modem , typically in the UHF Band . In most countries, certain frequencies are allocated specifically for RTK purposes. Most land-survey equipment has a built-in UHF-band radio modem as a standard option. RTK provides accuracy enhancements up to about 20 km from the base station. This allows the units to calculate their relative position to within millimeters, although their absolute position

1595-772: Is zero at the start of each period; that is φ ( t 0 + k T ) = 0  for any integer  k . {\displaystyle \varphi (t_{0}+kT)=0\quad \quad {\text{ for any integer }}k.} Moreover, for any given choice of the origin t 0 {\displaystyle t_{0}} , the value of the signal F {\displaystyle F} for any argument t {\displaystyle t} depends only on its phase at t {\displaystyle t} . Namely, one can write F ( t ) = f ( φ ( t ) ) {\displaystyle F(t)=f(\varphi (t))} , where f {\displaystyle f}

1650-434: The 12:00 position to the current position of the hand, at time t {\displaystyle t} , measured clockwise . The phase concept is most useful when the origin t 0 {\displaystyle t_{0}} is chosen based on features of F {\displaystyle F} . For example, for a sinusoid, a convenient choice is any t {\displaystyle t} where

1705-414: The clock analogy, each signal is represented by a hand (or pointer) of the same clock, both turning at constant but possibly different speeds. The phase difference is then the angle between the two hands, measured clockwise. The phase difference is particularly important when two signals are added together by a physical process, such as two periodic sound waves emitted by two sources and recorded together by

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1760-419: The clock analogy, this situation corresponds to the two hands turning at the same speed, so that the angle between them is constant. In this case, the phase shift is simply the argument shift τ {\displaystyle \tau } , expressed as a fraction of the common period T {\displaystyle T} (in terms of the modulo operation ) of the two signals and then scaled to

1815-406: The fractional part of a real number, discarding its integer part; that is, [ [ x ] ] = x − ⌊ x ⌋ {\displaystyle [\![x]\!]=x-\left\lfloor x\right\rfloor \!\,} ; and t 0 {\displaystyle t_{0}} is an arbitrary "origin" value of the argument, that one considers to be the beginning of

1870-438: The frequencies are different, the phase difference φ ( t ) {\displaystyle \varphi (t)} increases linearly with the argument t {\displaystyle t} . The periodic changes from reinforcement and opposition cause a phenomenon called beating . The phase difference is especially important when comparing a periodic signal F {\displaystyle F} with

1925-830: The function's value changes from zero to positive. The formula above gives the phase as an angle in radians between 0 and 2 π {\displaystyle 2\pi } . To get the phase as an angle between − π {\displaystyle -\pi } and + π {\displaystyle +\pi } , one uses instead φ ( t ) = 2 π ( [ [ t − t 0 T + 1 2 ] ] − 1 2 ) {\displaystyle \varphi (t)=2\pi \left(\left[\!\!\left[{\frac {t-t_{0}}{T}}+{\frac {1}{2}}\right]\!\!\right]-{\frac {1}{2}}\right)} The phase expressed in degrees (from 0° to 360°, or from −180° to +180°)

1980-436: The origin for computing the phase of G {\displaystyle G} has been shifted too. In that case, the phase difference φ {\displaystyle \varphi } is a constant (independent of t {\displaystyle t} ), called the 'phase shift' or 'phase offset' of G {\displaystyle G} relative to F {\displaystyle F} . In

2035-410: The phase φ ( t ) {\displaystyle \varphi (t)} depends on the arbitrary choice of the start of each period, and on the interval of angles that each period is to be mapped to. The term "phase" is also used when comparing a periodic function F {\displaystyle F} with a shifted version G {\displaystyle G} of it. If

2090-478: The phases of two periodic signals F {\displaystyle F} and G {\displaystyle G} is called the phase difference or phase shift of G {\displaystyle G} relative to F {\displaystyle F} . At values of t {\displaystyle t} when the difference is zero, the two signals are said to be in phase; otherwise, they are out of phase with each other. In

2145-435: The rover. As described in the previous section, the range to a satellite is essentially calculated by multiplying the carrier wavelength times the number of whole cycles between the satellite and the rover and adding the phase difference. Determining the number of cycles is non-trivial, since signals may be shifted in phase by one or more cycles. This results in an error equal to the error in the estimated number of cycles times

2200-417: The same nominal frequency. In time and frequency, the purpose of a phase comparison is generally to determine the frequency offset (difference between signal cycles) with respect to a reference. A phase comparison can be made by connecting two signals to a two-channel oscilloscope . The oscilloscope will display two sine signals, as shown in the graphic to the right. In the adjacent image, the top sine signal

2255-429: The satellite, and additional error sources such as non-mitigated ionospheric and tropospheric delays , multipath, satellite clock and ephemeris errors. RTK follows the same general concept, but uses the satellite signal's carrier wave as its signal, ignoring the information contained within. RTK uses a fixed base station and a rover to reduce the rover's position error. The base station transmits correction data to

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2310-428: The shift in t {\displaystyle t} is expressed as a fraction of the period, and then scaled to an angle φ {\displaystyle \varphi } spanning a whole turn, one gets the phase shift , phase offset , or phase difference of G {\displaystyle G} relative to F {\displaystyle F} . If F {\displaystyle F}

2365-452: The signal to an internally generated pseudorandom binary sequence. Since the satellite signal takes time to reach the receiver, the satellite's sequence is delayed in relation to the receiver's sequence. By increasingly delaying the receiver's sequence, the two sequences are eventually aligned. The accuracy of the resulting range measurement is essentially a function of the ability of the receiver's electronics to accurately process signals from

2420-529: The sinusoid). (The cosine may be used instead of sine, depending on where one considers each period to start.) Usually, whole turns are ignored when expressing the phase; so that φ ( t ) {\displaystyle \varphi (t)} is also a periodic function, with the same period as F {\displaystyle F} , that repeatedly scans the same range of angles as t {\displaystyle t} goes through each period. Then, F {\displaystyle F}

2475-716: The smallest positive real number such that F ( t + T ) = F ( t ) {\displaystyle F(t+T)=F(t)} for all t {\displaystyle t} ). Then the phase of F {\displaystyle F} at any argument t {\displaystyle t} is φ ( t ) = 2 π [ [ t − t 0 T ] ] {\displaystyle \varphi (t)=2\pi \left[\!\!\left[{\frac {t-t_{0}}{T}}\right]\!\!\right]} Here [ [ ⋅ ] ] {\displaystyle [\![\,\cdot \,]\!]\!\,} denotes

2530-740: The sum F + G {\displaystyle F+G} is a sinusoidal signal with the same frequency, with amplitude C {\displaystyle C} and phase shift − 90 ∘ < φ < + 90 ∘ {\displaystyle -90^{\circ }<\varphi <+90^{\circ }} from F {\displaystyle F} , such that C = A 2 + B 2  and  sin ⁡ ( φ ) = B / C . {\displaystyle C={\sqrt {A^{2}+B^{2}}}\quad \quad {\text{ and }}\quad \quad \sin(\varphi )=B/C.} A real-world example of

2585-567: The sum and difference of two phases (in degrees) should be computed by the formulas 360 [ [ α + β 360 ] ]  and  360 [ [ α − β 360 ] ] {\displaystyle 360\,\left[\!\!\left[{\frac {\alpha +\beta }{360}}\right]\!\!\right]\quad \quad {\text{ and }}\quad \quad 360\,\left[\!\!\left[{\frac {\alpha -\beta }{360}}\right]\!\!\right]} respectively. Thus, for example,

2640-533: The sum of phase angles 190° + 200° is 30° ( 190 + 200 = 390 , minus one full turn), and subtracting 50° from 30° gives a phase of 340° ( 30 − 50 = −20 , plus one full turn). Similar formulas hold for radians, with 2 π {\displaystyle 2\pi } instead of 360. The difference φ ( t ) = φ G ( t ) − φ F ( t ) {\displaystyle \varphi (t)=\varphi _{G}(t)-\varphi _{F}(t)} between

2695-401: The test signal the offset between frequencies can be determined. Vertical lines have been drawn through the points where each sine signal passes through zero. The bottom of the figure shows bars whose width represents the phase difference between the signals. In this case the phase difference is increasing, indicating that the test signal is lower in frequency than the reference. The phase of

2750-441: The two signals will be 30° (assuming that, in each signal, each period starts when the shadow is shortest). For sinusoidal signals (and a few other waveforms, like square or symmetric triangular), a phase shift of 180° is equivalent to a phase shift of 0° with negation of the amplitude. When two signals with these waveforms, same period, and opposite phases are added together, the sum F + G {\displaystyle F+G}

2805-565: The use of RTK to a larger area containing a network of reference stations. Operational reliability and accuracy depend on the density and capabilities of the reference-station network. With network RTK, accuracy of 8mm + 0.5ppm horizontal and 15mm + 0.5 ppm vertical relative to the nearest station can be achieved, depending on the device. For example, with a base station 16 km (slightly less than 10 miles) away, relative horizontal error would be 8mm + 8mm = 16mm (roughly 5/8 of an inch). A Continuously Operating Reference Station (CORS) network

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2860-505: The usefulness of the RTK technique for general navigation, the technique is perfectly suited to roles like surveying. In this case, the base station is located at a known surveyed location, often a benchmark , and the mobile units can then produce a highly accurate map by taking fixes relative to that point. RTK has also found uses in autodrive/autopilot systems, precision farming , machine control systems and similar roles. Network RTK extend

2915-426: The value of the sum depends on the waveform. For sinusoidal signals, when the phase difference φ ( t ) {\displaystyle \varphi (t)} is 180° ( π {\displaystyle \pi } radians), one says that the phases are opposite , and that the signals are in antiphase . Then the signals have opposite signs, and destructive interference occurs. Conversely,

2970-411: The variable t {\displaystyle t} completes a full period. This convention is especially appropriate for a sinusoidal function, since its value at any argument t {\displaystyle t} then can be expressed as φ ( t ) {\displaystyle \varphi (t)} , the sine of the phase, multiplied by some factor (the amplitude of

3025-476: The wavelength, which is 19 cm for the L1 signal. Solving this so-called integer ambiguity search problem results in centimeter precision. The error can be reduced with sophisticated statistical methods that compare the measurements from the C/A signals and by comparing the resulting ranges between multiple satellites. The improvement possible using this technique is potentially very high if one continues to assume

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