Preliminary Results of the Development of a Single-Frequency GNSS RTK-Based Autonomous Driving System for a Speed Sprayer

Table 1

The statistics of the position error for the static test.

Axis	GNSS RTK type	Range	Mean	Standard deviation
North (m)	Single frequency	-0.333~-0.313	-0.323	0.002
	Dual frequency	-0.361~-0.283	-0.320	0.008
East (m)	Single frequency	0.542~0.555	0.549	0.002
	Dual frequency	0.533~0.575	0.550	0.004
Down (m)	Single frequency	-0.035~0.019	-0.013	0.007
	Dual frequency	-0.086~0.074	-0.022	0.015