A standalone low-cost mobile prototype with accurate localization capabilities and communicating environmental measurements in real-time can definitely expand the current picture of urban data characterized by limited spatio-temporal resolution. Sensor data enrichment with kinematics, high-frequency and robust positioning data plays a crucial role in IoT devices for mobile microclimatic monitoring application. Indeed, spatially enriched real time kinematic sensors lead directly to fast, reliable and accurate information over-time. This, in turn, allows to create added-value services (smart cities, transportation, e-health, smart home, social, etc.) for life quality improvement of urban communities. The design, prototyping and experimental activities have got funded the DPS4ESLAB project.

1. 11/13/2020 Center for Sensing Solutions
Low-cost high-res GNSS with RTKlib
for microclimatic monitoring
S. Tondini

2. 11/13/2020 Center for Sensing Solutions S. Tondini
Outline
• Real world GNSS applications
• Why mobile microclimatic monitoring?
• Real Time Kinematics and RTKlib
• Rasp based prototype
• Application design
• Filed tests (preliminary)
• Conclusions and outlook

3. 11/13/2020 Center for Sensing Solutions S. Tondini
Real wolrd GNSS applications
http://www.u-blox.com/ K. Kobayashi. Introduction to RTK. TUMSAT GNSS Lab 2020 AIT
Machine Control
Mapping
Logistics
Financial - Smart
Grid
ADAS -
Autonomous
Driving and Road
Pricing
Moblie Network
Satellite
Communication
Constructions
Drilling

4. 11/13/2020 Center for Sensing Solutions S. Tondini
Why mobile microclimatic monitoring?
CONTEXT
Climate
Multicriteria Analysis/Modeling
Solar Radiation Microclimate Airflow
local human thermal comfort
urban heat islands
responsive adaptation and mitigation strategies
http://senseable.mit.edu/cityscanner/app/#15/42.3643/-71.1008

5. 11/13/2020 Center for Sensing Solutions S. Tondini
Real Time Kinematics and RTKlib
GNSS SATELLITES
meter precision (at seconds) centimeter precision (at seconds)
code-based pseudorangingdifferential correction (carrier phase measurements)
ATMOSPHERE
pR
ρk
R, φk
R
ρi
B, φi
B
ρk
B, φk
B
lRB
ρi
R, φi
R
pB
D. Medina, et al. On the Kalman Filtering Formulation for RTK Joint Positioning and Attitude Quaternion Determination 978-1-5386-1647-5/18/$31.00 ©2018 IEEE
http://www.rtklib.com/

6. 11/13/2020 Center for Sensing Solutions S. Tondini
Rasp based prototype
Power supply
Pyranometer
T/RH sensor
Rover (RTK) module
GNSS antenna
Core processing unit:
- Sensors read-out
- RTKlib on-board
- GSM connectivity
- Touchscreen + GUI
USB serial bus
LTE antenna

7. 11/13/2020 Center for Sensing Solutions S. Tondini
Application design
Base
Rover
EDP - data access
EDP - frontend
webGIS
API
V.M.
Corrected data
RTKlib processing
RINEX data
Environmental Data Platform (EDP)
Position enriched
sensor data
Public REPOSTPOS network
Basedata
download
GPS, GLO, GAL
GeoJSON
http://users.south-tyrolean.net/geodetico/

8. 11/13/2020 Center for Sensing Solutions S. Tondini
Field tests (prelim.) 5 Hz acq. Static Static + RTK
E std 0.7 m 0.01 m
N std 0.3 m 0.01 m
Z std 0.3 m 0.04 m
*http://users.south-tyrolean.net/geodetico/
I
II
III
I
IIIII
Base Rover Processing
*
Static
Kinematic
*
Kinematic

9. 11/13/2020 Center for Sensing Solutions S. Tondini
Conclusions
• Monitor environmental phenomena with a few urban rovers
• Improve spatial data resolution in cities (up to 10’s of m)
• Develop calibration routines based on data fusion
• Bring the data to the doorsteps of citizens
• Develop innovative cross-domain services
• Enrich the solution with intertial unit and odometer
• Embed new sensors (e.g. pollution, noise, …)
• Integrated microservice via quasi-real-time API
• Real use case pilot (public transport)
and outlook

10. The research leading to these results has received funding from the European Regional Development Fund, Operational
Programme Investment for growth and jobs ERDF 2014-2020 under Project number ERDF1094, Data Platform and Sensing
Technology for Environmental Sensing LAB – DPS4ESLAB.
11/13/2020 Center for Sensing Solutions S. Tondini
Thanks for your kind attention!
STEFANO TONDINI
Center for Sensing Solutions
T +39 0471 055 266
F +39 0471 055 949
stefano.tondini@eurac.edu