Table 2 The information of GNSS devices used in this study

SEPT + Trimble

Septentrio PolaRx5S (SEPT)

Trimble Zephyr 2

Geodetic antenna:

D = 152 mm; H = 74 mm

Signal gain: 50 dB

Weight: 590 g

Price: $2500–$3000 (2022)

F9P + Trimble

u-blox ZED-F9P (F9P)

HG-GOYH7151 (VDA)

F9P + VDA

Vertical dipole antenna:

D = 150 mm; H = 63.7 mm

Signal gain: (40 ± 2) dB

Weight: 425 g

Price: $50–$100 (2022)

F9P + MPA

HG-GOYH3062 (MPA)

Microstrip patch antenna:

D = 80 mm; H = 21.2 mm

Signal gain: (30 ± 2) dB

Weight: ≤ 150 g

Price: $25–$50 (2022)

F9P + HA

HX-CH7604A (HA)

Helix antenna:

D = 27.5 mm; H = 59 mm

Signal gain: (33 ± 2) dB

Weight: ≤ 25 g

Price: $25–$50 (2022)