{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T22:11:42Z","timestamp":1778623902213,"version":"3.51.4"},"reference-count":24,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2021,8,30]],"date-time":"2021-08-30T00:00:00Z","timestamp":1630281600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100014440","name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","doi-asserted-by":"publisher","award":["Spanish project RTI2018-093421-B-I00"],"award-info":[{"award-number":["Spanish project RTI2018-093421-B-I00"]}],"id":[{"id":"10.13039\/100014440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011011","name":"Junta de Andaluc\u00eda","doi-asserted-by":"publisher","award":["Andalusian project UMA18-FEDERJA-090"],"award-info":[{"award-number":["Andalusian project UMA18-FEDERJA-090"]}],"id":[{"id":"10.13039\/501100011011","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is optimal to get the most precise 3D coordinates with respect to a global reference system. The redundancy provided by the fourth receiver allows to improve estimations even more and to maintain accuracy when one of the receivers fails. A mini computer with the Robotic Operating System is responsible for merging all the available measurements reliably. Successful experiments have been carried out with a ground rover on irregular terrain. Angular estimates similar to those of a high-performance IMU have been achieved in dynamic tests.<\/jats:p>","DOI":"10.3390\/s21175853","type":"journal-article","created":{"date-parts":[[2021,8,31]],"date-time":"2021-08-31T22:58:15Z","timestamp":1630450695000},"page":"5853","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Redundant Configuration of Four Low-Cost GNSS-RTK Receivers for Reliable Estimation of Vehicular Position and Posture"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1095-4775","authenticated-orcid":false,"given":"Jes\u00fas","family":"Morales","sequence":"first","affiliation":[{"name":"Robotics and Mechatronic Lab, Andaluc\u00eda Tech, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8940-2465","authenticated-orcid":false,"given":"Jorge L.","family":"Mart\u00ednez","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronic Lab, Andaluc\u00eda Tech, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3432-3230","authenticated-orcid":false,"given":"Alfonso J.","family":"Garc\u00eda-Cerezo","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronic Lab, Andaluc\u00eda Tech, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,8,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Henkel, P. 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