| 摘要: | 本論文實現並評估了一種基於雙頻u-blox ZED-F9P接收機的低成本即時動態全球導航衛星系統（RTK-GNSS）。目標是開發一種經濟實惠的定位平台，並評估其實現厘米級可靠定位精度的能力。論文建立了一套完整的工作流程，包括基地台到流動站的配置、透過RTK2Go傳輸NTRIP校正資料、連續資料記錄以及基於Python的距離和誤差評估處理。為了評估系統在不同幾何佈局和環境下的性能，論文測試了六種不同的現場場景，包括中央大學校園內的直線、曲線和方形路徑，以及中央大學校園外的平整、不平整和矩形路徑軌跡。即時位置資料以NMEA GGA格式收集，GNSS座標在Python中進行處理，以重建軌跡，並使用半正矢公式和均方根誤差（RMSE）計算距離和精度指標。在所有實驗中，系統的RMSE值在0.08米至0.49米之間。在開闊天空條件下，定位精度保持在厘米級到低分米級（RMSE ≈ 0.08–0.14 m），而部分遮蔽環境由於多路徑效應和衛星可見性降低，誤差增大（RMSE 最高可達 0.49 m）。然而，一旦環境條件改善，系統仍保持可靠並能恢復運作。這些結果表明，低成本雙頻接收機在穩定校正的支援下，能夠在動態戶外測試中達到測量級性能。本研究開發的工作流程為使用經濟型 GNSS 系統的使用者提供了實用參考，並深入分析了低成本 RTK 系統在實際戶外條件下的誤差特性、模糊度重定位特性以及運作可靠性。;This thesis implements and evaluates a low-cost Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS) using the dual-frequency u-blox ZED-F9P receiver. The goal was to develop an affordable positioning platform and evaluate its ability to deliver reliable centimeter-level accuracy. A complete workflow was established, including base to rover configuration, NTRIP correction streaming through RTK2Go, continuous data logging, and Python-based processing for distance and error evaluation. Six field scenarios were tested to assess performance under different geometric layouts and environments, including straight, curved, and square paths within the NCU campus, as well as even, uneven, and rectangular path trajectories outside the NCU campus. Real-time position data were collected in NMEA GGA format, and the GNSS coordinates were processed in Python to reconstruct trajectories and compute distance and accuracy metrics using the haversine formula and RMSE. Across all experiments, the system achieved RMSE values ranging from 0.08 m to 0.49 m. Under open-sky conditions, the positioning accuracy remained at the centimeter to low-decimeter level (RMSE ≈ 0.08–0.14 m), while partially obstructed environments exhibited increased errors (RMSE up to 0.49 m) due to multipath and reduced satellite visibility. However, the system remained reliable and recovered once conditions improved. These results show that low-cost dual-frequency receivers, when supported by stable corrections, can approach survey-grade performance in dynamic outdoor testing. The workflow developed in this study provides a practical reference for users working with affordable GNSS systems and offers insights into error behavior, ambiguity re-fix behavior, and the operational reliability of low-cost RTK systems in real outdoor conditions. |
