Preliminary Results of the Development of a Single-Frequency GNSS RTK-Based Autonomous Driving System for a Speed Sprayer

Table 3

The statistics of the position error for the kinematic test (fixed ambiguity solution).

Axis	Receiver type	Range	Mean	Standard deviation
North (m)	Single frequency	-0.427~-0.141	-0.341	0.030
	Dual frequency	-0.683~-0.239	-0.346	0.024
East (m)	Single frequency	0.414~0.645	0.562	0.026
	Dual frequency	0.445~1.472	0.564	0.032
Down (m)	Single frequency	-0.173~-0.106	0.012	0.031
	Dual frequency	-0.546~0.189	0.662	0.034