Calculating a position of one device relative to another

One or more tangible, non-transitory, computer-readable media storing instructions that, when executed by one or more machines, cause the one or more machines to perform operations comprising:

• obtaining, from a reference device, first reference Global Navigation Satellite System (GNSS) measurements, made at the reference device, for a first time, wherein the reference device comprises a GNSS receiver;
• obtaining, from the reference device, a position of the reference device, for the first time;
• receiving, at a GNSS receiver of a first device, GNSS signals from at least one GNSS satellite;
• obtaining first device GNSS measurements based on the GNSS signals, made at a first device, for a current time, wherein the first device comprises a GNSS receiver;
• calculating a first relative position of the first device, for the current time, relative to the position of the reference device, for the first time, based on the first device GNSS measurements;
• obtaining, from the reference device, second reference GNSS measurements, made at the reference device, for a second time, wherein the second time is subsequent to the first time;
• calculating a position change of the reference device, from the first time to the second time, by comparing the first reference GNSS measurements and the second reference GNSS measurements;
• and
• calculating a second relative position of the first device, for the current time, relative to the position of the reference device, for the second time, by combining the first relative position and the calculated position change of the reference device, wherein calculating the second relative position begins before obtaining second reference GNSS measurements, thereby reducing a latency in calculating the second relative position of the first device.

A Global Navigation Satellite System (GNSS) receiver module for a first device in a real-time kinematic (RTK) positioning system, the RTK positioning system comprising the first device and a reference device, the GNSS receiver module comprising:

• a GNSS receiver configured to
• receive, from at least one GNSS satellite, GNSS signals, and
• obtain first device GNSS measurements based on the GNSS signals;
• a second receiver for receiving communications from the reference device;
• and
• at least one processor configured to:
• obtain, via the second receiver, first reference GNSS measurements, made at the reference device, for a first time;
• obtain, via the second receiver, a position of the reference device, for the first time;
• obtain, from the GNSS receiver, the first device GNSS measurements, made at the first device, for a current time;
• calculate a first relative position of the first device, for the current time, relative to the position of the reference device, for the first time;
• obtain, via the second receiver, second reference GNSS measurements, made at the reference device, for a second time, wherein the second time is subsequent to the first time;
• calculate a position change of the reference device, from the first time to the second time, by comparing the first reference GNSS measurements and the second reference GNSS measurements;
• and
• calculate a second relative position of the first device, for the current time, relative to the position of the reference device, for the second time, by combining the first relative position and the calculated position change of the reference device, wherein calculation of the second relative position is configured to begin before the second reference GNSS measurements are obtained to reduce a latency in calculating the second relative position of the first device.