In the conventional RTK (Real Time Kinematics). copyright phase measurements should be collected for several minutes in stationary state in order to determine the IA (Integer Ambiguity) in copyright phase to get the precise position. To determine the IA in motion. several OTM-RTK (On-The-Move RTK) methods have been proposed using vehicle dynamics or augmenting additional sensors. https://www.roneverhart.com/Sombrero-Tombstone-1-000X-Los-Dos-Carnales-con-Plumas/