{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T10:28:33Z","timestamp":1779877713309,"version":"3.53.1"},"reference-count":32,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2021,7,6]],"date-time":"2021-07-06T00:00:00Z","timestamp":1625529600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000844","name":"European Space Agency","doi-asserted-by":"publisher","award":["4000125961\/18\/NL\/CBi"],"award-info":[{"award-number":["4000125961\/18\/NL\/CBi"]}],"id":[{"id":"10.13039\/501100000844","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In 2019, the University of Warmia and Mazury in Olsztyn, in cooperation with Astri Polska, started a European Space Agency (ESA) project. The purpose of the project is the development and implementation of a field calibration procedure for a multi-frequency and multi-system global navigation satellite system (GNSS). The methodology and algorithms proposed in the project are inspired by the \u201cHannover\u201d concept of absolute field receiver antenna calibration; however, some innovations are introduced. In our approach, the antenna rotation point is close to the nominal mean phase center (MPC) of the antenna, although it does not coincide with it. Additionally, a National Marine Electronics Association local time zone (NMEA ZDA) message is used to synchronize the robot with the GNSS time. We also propose some modifications in robot arm movement scenarios. Our first test results demonstrate consistent performance for the calibration strategy and calibration procedure. For the global positioning system (GPS) L1 frequency, the calibration results show good agreement with the IGS-type mean values. For high satellite elevations (20\u00b0\u201390\u00b0), the differences do not exceed 1.5 mm. For low elevation angles (0\u00b0\u201320\u00b0), the consistency of the results is worse and the differences exceed a 3 mm level in some cases.<\/jats:p>","DOI":"10.3390\/s21144639","type":"journal-article","created":{"date-parts":[[2021,7,6]],"date-time":"2021-07-06T11:36:44Z","timestamp":1625571404000},"page":"4639","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Preliminary Results of an Astri\/UWM EGNSS Receiver Antenna Calibration Facility"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8837-700X","authenticated-orcid":false,"given":"Karol","family":"Dawidowicz","sequence":"first","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8954-7963","authenticated-orcid":false,"given":"Jacek","family":"Rapi\u0144ski","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Micha\u0142","family":"\u015amieja","sequence":"additional","affiliation":[{"name":"Department of Mechatronics and Technical-Computer Education, Faculty of Technical Sciences, University of Warmia and Mazury, Oczapowskiego 11, 10-710 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5542-1481","authenticated-orcid":false,"given":"Pawe\u0142","family":"Wielgosz","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dawid","family":"Kwa\u015bniak","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7654-458X","authenticated-orcid":false,"given":"Wojciech","family":"Jarmo\u0142owski","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tomasz","family":"Grzegory","sequence":"additional","affiliation":[{"name":"Astri Polska, Krakowska 110\/114, 02-256 Warsaw, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8170-1156","authenticated-orcid":false,"given":"Dariusz","family":"Tomaszewski","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9029-8012","authenticated-orcid":false,"given":"Joanna","family":"Janicka","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pawe\u0142","family":"Go\u0142aszewski","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bogdan","family":"Wolak","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rados\u0142aw","family":"Bary\u0142a","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2640-2783","authenticated-orcid":false,"given":"Grzegorz","family":"Krzan","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Katarzyna","family":"St\u0119pniak","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Civil Engineering, Faculty of Geoengineering, University of Warmia and Mazury, Oczapowskiego 1, 10-719 Olsztyn, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-2944-9613","authenticated-orcid":false,"given":"Grec","family":"Florin-Catalin","sequence":"additional","affiliation":[{"name":"Directorate of Navigation, European Space Technology and Research Centre, European Space Agency, Postbus 299, 2200 AG Noordwijk, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Karol","family":"Brzostowski","sequence":"additional","affiliation":[{"name":"Astri Polska, Krakowska 110\/114, 02-256 Warsaw, Poland"},{"name":"Directorate of Navigation, European Space Technology and Research Centre, European Space Agency, Postbus 299, 2200 AG Noordwijk, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,7,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"529","DOI":"10.1007\/s10291-013-0349-1","article-title":"Influence of different GPS receiver antenna calibration models on geodetic positioning","volume":"18","author":"Baire","year":"2013","journal-title":"GPS Solut."},{"key":"ref_2","first-page":"299","article-title":"Analysis of PCC model dependent periodic signals in GLONASS position time series using Lomb\u2013 Scargle periodogram","volume":"13","author":"Dawidowicz","year":"2016","journal-title":"Acta Geodyn. 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