Search

For precise position services, the real-time precise point positioning (PPP) is a promising technology. The real-time PPP performance is expected to be improved by multi-system combination. The performance of real-time multi-system PPP needs to be periodically investigated, with the increasing number of available satellites and the continuously improved quality of real-time precise products of satellite clocks and orbits. In this study, a comprehensive performance assessment is conducted for the four-system integrated real-time PPP (FSIRT-PPP) with GPS, BDS, Galileo and GLONASS in both static and kinematic modes. The datasets from 118 stations spanning approximately a month are used for analysis, and the real-time stream CLK93 is employed. The superior performance of FSIRT-PPP is validated by comparing with the results of GPS/BDS, GPS/Galileo, GPS/GLONASS, GPS-only, BDS-only, Galileo-only and GLONASS-only cases. The FSIRT-PPP using ionospheric-free (IF) combined observables can achieve a convergence time of 10.9, 4.8 and 11.8 min and a positioning accuracy of 0.4, 0.5 and 0.7 cm in the static mode in the east, north and up directions, respectively, while the derived statistic is 15.4, 7.0 and 16.4 min, and 1.6, 1.2 and 3.4 cm in the kinematic mode in the three directions, respectively. Moreover, we also compare the position solutions of real-time PPP adopting IF combined and uncombined (UC) observables, and prove the mathematical equivalence between the two PPP models in the converged stage, provided that there are no external ionospheric corrections or constraints given to the estimated ionospheric delays in the UC model. The difference between the fully converged positioning accuracy of IF-based and UC-based real-time PPP is marginal, but the UC-based real-time PPP has longer convergence time due to the influence of the significant unmodeled time-varying errors in the real-time precise products as well as the different parameterization between them. For completeness, the real-time kinematic PPP results in harsh environments and the post-processed PPP results are also presented.

Global navigation satellite systems (GNSS) water vapor tomography is an important technique to obtain the three-dimensional distribution of atmospheric water vapor. The rapid development of low Earth orbit (LEO) constellations has led to a richer set of observations, which brings new expectations for water vapor tomography. This paper analyzes the influence of LEO constellation-augmented multi-GNSS(LCAMG)on the tomography, in terms of ray distribution, tomography accuracy, and horizontal resolution, by simulating LEO constellation data. The results show that after adding 288 LEO satellites to GNSS, the 30-min ray distribution effect of GNSS can be achieved in 10 min, which can effectively shorten the observation time by 66.7%. In the 10-min observation time, the non-repetitive effective observation value of LCAMG is 2.38 times that of GNSS, and the accuracy is 1.27% higher than that of GNSS. Compared with GNSS and the global positioning system (GPS), at a horizontal resolution of 13 × 14, the proportion of empty voxels in LCAMG reduces by 5.22% and 22.53%, respectively.

The proper handling of code biases is essential for realizing precise ionospheric modeling, positioning and timing. It is common to treat code biases in a differential mode as a differential code bias (DCB). With the modernization of GPS and GLONASS and the implementation of Galileo and BDS, the traditional DCB calibrations are complex and not easily extendable to different frequencies and modulations. An alternative treatment of code biases is to use observable-specific signal biases (OSBs). In this contribution, all possible OSBs are estimated for the latest GNSS and analyzed from the perspectives of precision, consistency and stability. The precisions of the GPS and Galileo OSBs are significantly better than those of the GLONASS and BDS OSBs. Considering the inter-frequency bias (IFB) of GLONASS and the inter-system bias (ISB) of BDS can improve the precisions of their OSB estimates. OSB comparisons among different agencies reveal that GPS and Galileo show good agreement at the level of 0.2–0.3 ns, while the differences of the GLONASS and BDS OSBs reach 0.5–1.0 ns. In addition, agreement of 0.4–0.5 ns is demonstrated for IGSO and MEO OSBs, while the consistency of GEO OSBs is worse by a factor of 2–3. The stability of the OSB estimates is at the level of 0.03–0.09 ns for GPS, 0.10–0.25 ns for Galileo, 0.14–0.48 ns for GLONASS, and 0.16–0.44 ns for BDS. In general, the BDS-3 OSB estimates show better stability than the BDS-2 OSBs. Moreover, the code biases at the same or at a close central frequency show similar performance. This is particularly obvious for Galileo and BDS, which adopt the dual-frequency constant envelope multiplexing (DCEM) technique. For instance, the code bias estimates of C5Q, C5X, C7Q, and C8Q are close to each other for individual Galileo satellites, and the BDS code biases of C5P, C7Z, and C8X are comparable to each other.

The School of Geodesy and Geomatics (SGG) at Wuhan University has been generating GPS fractional cycle bias (FCB) products for users to realize ambiguity-fixed precise point positioning (PPP) since 2015. Along with the development of multiple Global Navigation Satellite Systems (GNSS), there is an urgent need to provide multi-GNSS FCB products for the PPP ambiguity resolution (AR) with multi-constellation observations. This study focuses on the multi-GNSS FCB estimation, in which the FCB products of GPS, Galileo, BDS and QZSS are generated. We describe here the detailed estimation method and the significant improvements to the new service. The FCB quality, as well as the PPP AR performance, is evaluated. The mean standard deviations of wide-lane FCBs relative to CODE are 0.019, 0.005, 0.015 and 0.008 cycles, while those of narrow-lane are 0.021, 0.021, 0.057 and 0.010 cycles for GPS, Galileo, BDS and QZSS, respectively. The comparison with CNES GPS and Galileo FCBs indicates their good consistency with the corresponding FCBs. Compared with GPS-only PPP AR, the convergence time and time to first fix of the four-system PPP AR can be reduced by 27.3 and 29.4% in the static mode, respectively, while the corresponding improvements are 42.6 and 51.9% in the kinematic mode, respectively. These results demonstrate that our SGG FCB service can provide high-precision and reliable four-system FCB corrections for worldwide users to conduct ambiguity-fixed PPP processing.

The BDS-3 basic system has already been established, starting to provide global service. As a new generation navigation system, the BDS-3 adopts a global ionospheric model, called BDGIM. Single-frequency users can use the BDGIM along with nine ionospheric parameters broadcasted in the navigation message to perform ionospheric correction. This paper analyzes the deficiency of the current BDS and GPS Klobuchar models, and then by using the high precision CODE’s global ionospheric map (GIM) as a reference, the precision of BDGIM model is evaluated. Finally, the performance of applying this model to the positioning is verified by experimental data. The results show that the global accuracy of the BDGIM model is about 3.6 TECU, which is better than that of the Klobuchar model and more uniform on a global scale. In terms of the BDS standard point positioning, ionospheric correction with the BDGIM model obtains higher accuracy compared to that with the Klobuchar model, especially in the vertical direction.

The fast motion of low earth orbit (LEO) satellite contributes to the geometric diversity, allowing for rapid convergence of precise point positioning (PPP). In this contribution, we investigate the PPP performance of the LEO constellation-augmented full operational capability (FOC) multi-GNSS. We design six LEO constellations with different satellite numbers, orbit altitudes and orbit types, together with the FOC multi-GNSS constellations, and then simulate both the onboard LEO and ground-based observations. The multi-GNSS POD result shows much better orbit accuracy of 3.3, 2.7 and 2.6 cm in radial, along-track and cross-track components, respectively, compared with that of 10.3, 9.2 and 8.9 cm for GPS-only POD. Furthermore, the performance of LEO-augmented multi-GNSS PPP is evaluated. With the augmentation of 60-, 96-, 192- and 288-satellite LEO constellation, the multi-GNSS PPP convergence time can be shortened from 9.6 to 7.0, 3.2, 2.1 and 1.3 min, respectively, in midlatitude region. For LEO-augmented GPS- and BDS-only PPP, the improvement is more significant with the convergence time dramatically shortened by 90% from about 25 to within 3 min with 192- or 288-satellite constellation. The augmentation capability is also found to be associated with station latitude, and the higher latitude, the better performance. To enable about more than 70% significant reduction on convergence time, as well as considering the cost, the 192-satellite LEO constellation scheme is suggested. In terms of orbit altitude, the scheme of 1000 km presents better performance than that of 600 km. As for orbit type, the performances are comparable for polar and sun-synchronous orbits. Additionally, LEO-only PPP can be achieved with the convergence time of about 6.5 min.

It is widely known that in real-time kinematic (RTK) solution, the convergence and ambiguity-fixed speeds are critical requirements to achieve centimeter-level positioning, especially in medium-to-long baselines. Recently, the current status of the global navigation satellite systems (GNSS) can be improved by employing low earth orbit (LEO) satellites. In this study, an initial assessment is applied for LEO constellations augmented GNSS RTK positioning, where four designed LEO constellations with different satellite numbers, as well as the nominal GPS constellation, are simulated and adopted for analysis. In terms of aforementioned constellations solutions, the statistical results of a 68.7-km baseline show that when introducing 60, 96, 192, and 288 polar-orbiting LEO constellations, the RTK convergence time can be shortened from 4.94 to 2.73, 1.47, 0.92, and 0.73 min, respectively. In addition, the average time to first fix (TTFF) can be decreased from 7.28 to 3.33, 2.38, 1.22, and 0.87 min, respectively. Meanwhile, further improvements could be satisfied in several elements such as corresponding fixing ratio, number of visible satellites, position dilution of precision (PDOP) and baseline solution precision. Furthermore, the performance of the combined GPS/LEO RTK is evaluated over various-length baselines, based on convergence time and TTFF. The research findings show that the medium-to-long baseline schemes confirm that LEO satellites do helpfully obtain faster convergence and fixing, especially in the case of long baselines, using large LEO constellations, subsequently, the average TTFF for long baselines has a substantial shortened about 90%, in other words from 12 to 2 min approximately by combining with the larger LEO constellation of 192 or 288 satellites. It is interesting to denote that similar improvements can be observed from the convergence time.