{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T04:26:43Z","timestamp":1777436803903,"version":"3.51.4"},"reference-count":10,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Funda\u00c7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["NORTE-01-0145-FEDER-022097"],"award-info":[{"award-number":["NORTE-01-0145-FEDER-022097"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Advanced Robotic Systems"],"published-print":{"date-parts":[[2020,5,1]]},"abstract":"<jats:p>The global navigation satellite system (GNSS) constitutes an effective and affordable solution to the outdoor positioning problem. When combined with precise positioning techniques, such as the real time kinematic (RTK), centimeter-level positioning accuracy becomes a reality. Such performance is suitable for a whole new range of demanding applications, including high-accuracy field robotics operations. The RTKRCV, part of the RTKLIB package, is one of the most popular open-source solutions for real-time GNSS precise positioning. Yet the lack of integration with the robot operating system (ROS), constitutes a limitation on its adoption by the robotics community. This article addresses this limitation, reporting a new implementation which brings the RTKRCV capabilities into ROS. New features, including ROS publishing and control over a ROS service, were introduced seamlessly, to ensure full compatibility with all original options. Additionally, a new observation synchronization scheme improves solution consistency, particularly relevant for the moving-baseline positioning mode. Real application examples are presented to demonstrate the advantages of our rtkrcv_ros package. For community benefit, the software was released as an open-source package.<\/jats:p>","DOI":"10.1177\/1729881420904526","type":"journal-article","created":{"date-parts":[[2020,5,11]],"date-time":"2020-05-11T07:24:42Z","timestamp":1589181882000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":20,"title":["Real-time GNSS precise positioning: RTKLIB for ROS"],"prefix":"10.1177","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6091-1549","authenticated-orcid":false,"given":"Ant\u00f3nio","family":"Ferreira","sequence":"first","affiliation":[{"name":"Institute for Systems and Computer Engineering, Technology and Science (INESC TEC), Porto, Portugal"}]},{"given":"Bruno","family":"Matias","sequence":"additional","affiliation":[{"name":"Institute for Systems and Computer Engineering, Technology and Science (INESC TEC), Porto, Portugal"}]},{"given":"Jos\u00e9","family":"Almeida","sequence":"additional","affiliation":[{"name":"Institute for Systems and Computer Engineering, Technology and Science (INESC TEC), Porto, Portugal"},{"name":"Department of Electrical Engineering, ISEP\u2013School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"}]},{"given":"Eduardo","family":"Silva","sequence":"additional","affiliation":[{"name":"Institute for Systems and Computer Engineering, Technology and Science (INESC TEC), Porto, Portugal"},{"name":"Department of Electrical Engineering, ISEP\u2013School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2020,5,11]]},"reference":[{"key":"bibr1-1729881420904526","volume-title":"International Symposium on GPS\/GNSS","author":"Takasu T"},{"key":"bibr2-1729881420904526","volume-title":"ICRA Workshop on Open Source Software","author":"Quigley M"},{"key":"bibr3-1729881420904526","unstructured":"Fraunhofer\u2019s GNSS package. http:\/\/wiki.ros.org\/gnss (accessed 31 March 2019)."},{"key":"bibr4-1729881420904526","unstructured":"ETHZ\u2019s rtklibros package. https:\/\/github.com\/ethz-asl\/rtklibros (accessed 31 March 2019)."},{"key":"bibr5-1729881420904526","unstructured":"The rtkrcv_ros package. https:\/\/github.com\/ajbfinesc\/rtkrcv_ros (accessed 31 March 2019)."},{"key":"bibr6-1729881420904526","unstructured":"Grieneisen D. Real time kinematic GPS for micro aerial vehicles. Master Thesis, Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich (ETHz), 2012."},{"key":"bibr7-1729881420904526","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463316000096"},{"key":"bibr8-1729881420904526","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-008-0108-x"},{"key":"bibr9-1729881420904526","first-page":"1520","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Almeida J"},{"key":"bibr10-1729881420904526","unstructured":"Lu G. Development of a GPS multi-antenna system for attitude determination. PhD Thesis, University of Calgary, 1995."}],"container-title":["International Journal of Advanced Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/1729881420904526","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/1729881420904526","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/1729881420904526","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T11:59:50Z","timestamp":1777377590000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/1729881420904526"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,1]]},"references-count":10,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2020,5,1]]}},"alternative-id":["10.1177\/1729881420904526"],"URL":"https:\/\/doi.org\/10.1177\/1729881420904526","relation":{},"ISSN":["1729-8806","1729-8814"],"issn-type":[{"value":"1729-8806","type":"print"},{"value":"1729-8814","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,1]]},"article-number":"1729881420904526"}}