Quantitative Validation of a GNSS Campaign Planning Model for Kinematic Surveys: A Comparison of GPS and GPS/GLONASS Configurations

Reliable georeferencing is a fundamental requirement for modern sensor-based environmental monitoring systems employing mobile sensing platforms. This study presents a quantitative validation of a GNSS campaign planning model for kinematic surveys and evaluates how extending a single-constellation GPS configuration to a dual-constellation GPS/GLONASS configuration affects model-observation agreement under real-world conditions. The analysis was based on a kinematic measurement campaign conducted along an 18.4 km route in the Tricity metropolitan area (Gdańsk-Sopot-Gdynia), Poland. Two GNSS receivers operating at 1 Hz were used simultaneously, providing GPS and GPS/GLONASS observations under comparable kinematic and environmental conditions. Model predictions derived from DSM and DTM data were compared with field observations in terms of PDOP, satellite visibility, and model-observation agreement. The results demonstrate that the GPS/GLONASS configuration substantially improved satellite constellation geometry relative to the GPS-only configuration. Mean PDOP values decreased by approximately 30%, while the number of visible satellites increased by 81-86%. More importantly, the GPS/GLONASS configuration improved model-observation agreement. The mean absolute model-observation PDOP difference was reduced by 58.0% for the entire route, 66.7% under favourable observation conditions, and 68.4% under challenging observation conditions. The greatest improvements in model-observation agreement were achieved in dense urban environments affected by signal obstructions. These results demonstrate that constellation configuration influences not only satellite constellation geometry but also the agreement between trajectory-based campaign-planning predictions and real kinematic observations. The proposed methodology may also support the planning of sensor-based environmental monitoring campaigns requiring favourable GNSS observation conditions along measurement trajectories.