Danny, Its one LSA with two antennas located 2 meter apart. Basic problem is: a plane is flying 50 m/s with ground course COG from point A to B. When no wind ( or wind direction is paralel to line A-B) - no problem, but with cross-wind - position of plane is "twisted" and it is necessary to compensate camera yaw angle to get paralel location of photo footprint on the ground. Magnetometer/compass as a source of compensation is not enough long-term stable, so other source is necessary. Moving-base RTK is one of available solutions. There are commercial solutions available, but with high cost ( trimble BD982 + 2 antennas L1+L2 its approx. 4.500 USD from my supplier, official price for this set is over 15k USD from Trimple rep.). 5 Hz GPS module is minimum - between position sets plane move approx 10 meters, fortunatelly with low dynamic change, so middle position appriximation will give good solution. As i understand - RTK use base position (lat,lon,alt) as a constant to solve uncertain position calculations. In my case I can use more such "constants": distance between antennas is fixed and known, from IMU - as a additional - angles of line between antennas (roll, pitch).
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