Was RTK used in the original data collection?

[WhovianZyh]

Hi,

I am trying to reproduce OpenREALM and build some improvements on top of it.

From the paper, thesis, and README, I can see the system uses GNSS position and heading, with a u-blox NEO-7 module mentioned. However, I could not confirm whether RTK was used in the original experiments or dataset collection.

Could you clarify whether the original setup used:

• standard GNSS only,
• RTK,
• or any other differential correction method?

I would also appreciate any advice on whether adding RTK would be a good direction for improving absolute geo-referencing accuracy in OpenREALM.

Thanks!