Best integer equivariant position estimation for multi-GNSS RTK: A multivariate normal and t-distributed performance comparison

Best integer equivariant estimation: performance analysis using real data collected by low-cost, single- and dual-frequency, multi-GNSS receivers for short- to long-baseline RTK positioning

An assessment of smartphone and low-cost multi-GNSS single-frequency RTK positioning for low, medium and high ionospheric disturbance periods