This study aims to evaluate the high-precision positioning capability and lane-level localization accuracy of low-cost RTK-GNSS(Real- Time Kinematic Global Navigation Satellite System) technology. This study compares the positioning accuracy and lane-level localization performance of a low-cost RTK-GNSS module with those of a commercial high-precision receiver under identical conditions. Specifically, the root-mean-square, lateral offsets from HD-map(High-Definition Map) lane centerlines, and lane-change detection rates were evaluated to examine the applicability of the module to advanced mobility systems. Based on experiments conducted using a two-axis linear motion device and actual-vehicle tests on expressways, the low-cost RTK-GNSS module demonstrated precision positioning and lane-level localization comparable to that of a commercial high-precision receiver under the same test conditions. In the precision-positioning evaluation, the maximum positioning error of the low-cost module is approximately 2 cm, which is larger than that of a commercial receiver. Nevertheless, its average error generally remained within the typical range of 1–2 cm, which is the expected range for fixed RTK solutions in opensky environments. Furthermore, the difference in the lane-level localization accuracy between the low-cost and high-precision modules remained at approximately 1 cm. Although the low-cost RTK-GNSS module employs fewer receiver channels compared with commercial high-precision units, the integration of the RTK-OMEGA solution, which supports robust integer ambiguity resolution and is a key element of RTK correction, enables it to perform comparably to a commercial module under identical test conditions. The performance-evaluation indicators and methodologies presented herein are expected to provide a meaningful foundation for future studies aimed at ensuring the reliability and safety of cost-effective RTK-GNSS technologies.

ABSTRACT
1. 서론
2. 관련 연구
    2.1. 모빌리티 분야에서의 RTK-GNSS 기술 성능 검증
    2.2. 모빌리티 분야 외의 RTK-GNSS 기술 성능 검증
    2.3. 연구 차별성
3. 저가형 RTK-GNSS 성능 평가
    3.1. 성능 평가 대상 및 비교군 선정
    3.2. 시험 방법
4. 분석 결과
    4.1. 정밀 측위 성능
    4.2. 차로 단위 측위 정확도 성능
5. 결론
감사의 글
REFERENCES

• 장지용(한국건설기술연구원 도로교통연구본부 수석연구원) | Jang Jiyong Corresponding author