How many centimeters is the accuracy of vehicle-mounted RTK positioning and how many centimeters is the accuracy of driving trajectory control for driverless vehicles?

How many centimeters is the accuracy of vehicle-mounted RTK positioning: RTK equipment as long as it enters the fixed solution, its positioning accuracy can be 1~2cm, and the high-level accuracy can be controlled at 2~3cm accuracy.

How many centimeters is the driving trajectory control accuracy of the driverless vehicle: our positioning equipment can provide a plane positioning accuracy of 1~2cm, but the control is often delayed as well as the error of the control, so it is better to do it as close as possible to the original data. Theoretically, the final control accuracy will have an error of 10~20cm with the real-time accuracy, while the lateral accuracy may be around 0.2 degrees.