 The proposed system combines the advantages of low-cost and low-power consumption with the benefits of GNSS single frequency real-time kinematic, SFRTK, and inertial navigation system, INS. It is able to provide higher position accuracy than other systems, while also reducing the running time. This makes it suitable for real-time applications. This article was authored by Chaozhuang Su, Zhou Jinggou, Chen Yang, and others.