Abstract
It is foreseeable that the BeiDou navigation satellite system with global coverage (BDS-3) and the BeiDou navigation satellite (regional) system (BDS-2) will coexist in the next decade. Care should be taken to minimize the adverse impact of the receiver-related biases, including inter-system biases (ISBs), differential code biases (DCB), and differential phase biases (DPB) on the positioning, navigation, and timing (PNT) provided by global navigation satellite systems (GNSS). Therefore, it is important to ascertain the intrinsic characteristics of receiver-related biases, especially in the context of the combination of BDS-3 and BDS-2, which have some differences in their signal level. We present a method that enables time-wise retrieval of between-receiver ISBs, DCB, and DPB from multi-frequency multi-GNSS observations. With this method, the time-wise estimates of the receiver-related biases between BDS-3 and BDS-2 are determined using all five frequencies available in different receiver pairs. Three major findings are suggested based on our test results. First, code ISBs are significant on the two overlapping frequencies B1II and B2b/B2I between BDS-3 and BDS-2 for a baseline with non-identical receiver pairs, which disrupts the compatibility of the two constellations. Second, epoch-wise DCB estimates of the same type in BDS-3 and BDS-2 can show noticeable differences. Thus, it is unreasonable to treat them as one constellation in PNT applications. Third, the DPB of BDS-3 and BDS-2 may have significant short-term variations, which can be attributed to, on the one hand, receivers composing baselines, and on the other hand, frequencies.
Highlights
The BeiDou navigation satellite system with global coverage (BDS-3) has been fully operational since July 2020 and has the potential to enable a wide range of applications for positioning, navigation, and timing (PNT) all over the world (Yang et al 2020)
Due to the short observation time, sidereal filtering cannot be used to weaken the influence of multipath. These results confirm the previous observation that the B1I code inter-system biases (ISBs) based on a mixed-receiver combination are nonzero, and this suggests that we should consider the difference between B1I code of BDS-3 and BDS-2 in practice
Pay attention to the differences between the receivers used; we can see that the differential phase biases (DPB) estimates of B1I-B1C and that of B1I-B2a are slightly different in their magnitude and mean values, but noticeably similar in their trend
Summary
The BeiDou navigation satellite system with global coverage (BDS-3) has been fully operational since July 2020 and has the potential to enable a wide range of applications for positioning, navigation, and timing (PNT) all over the world (Yang et al 2020). Jz1ab∗,sj* can be transferred to epoch i + 1 , even though the reference satellite is no longer visible, jz1a*b,j in jz1a∗bs,j* can still serve as a datum In this case, the SD code and phase observation equations at epoch i + 1 read: psaAb,j(i + 1) = gsaAb(i + 1) ⋅ xab(i + 1) + dtab(i + 1) + daAb,j(i + 1) + εasAb,j φsaAb,j(i + 1) = gsaAb(i + 1) ⋅ xab(i + 1) + dtab(i + 1) + δaAb,1(i + 1) + δaAb,j(i + 1) + λjz1aAb,sjA + esaAb,j psa∗b,j(i + 1) = gsa∗b(i + 1) ⋅ xab(i + 1) + dtab(i + 1) + da∗b,j(i + 1) + εsa∗b,j (4). Since the datum in DD ambiguities has not changed, no discontinuity will be present in the estimates of DPB and phase ISBs
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