One issue faced by developers of outdoor robots is the calibration of satellite navigation systems and the validation and verification of the state estimator after filtering has fused the satellite information with odometry.
One option to deal with error is to assume that the satellite information is perfect and another is to use benchmarks and triangulation.
NOAA's National Geodetic Survey provides datasheets of benchmarks in the United States that can be used as reference points for determining the position of your robot. This online tool provides map overlay to make it easy to find a benchmark near you.
Also, theodolite.
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