Evaluating the Latest Performance of Precise Point Positioning in Multi-GNSS/RNSS: GPS, GLONASS, BDS, Galileo and QZSS

Abstract

The single initial Global Positioning System (GPS) has been expanded into multiple global and regional navigation satellite systems (multi-GNSS/RNSS) as the Global Navigation Satellite System (GLONASS) is restored and the BeiDou Navigation Satellite System (BDS), Galileo Satellite Navigation System (Galileo) and Quasi-Zenith Satellite System (QZSS) evolve. Using the differences among these five systems, the paper constructs a consolidated multi-GNSS/RNSS precise point positioning (PPP) observation model. A large number of datasets from Multi-GNSS Experiment (MGEX) stations are employed to evaluate the PPP performance of multi-GNSS/RNSS. The paper draws three main conclusions based on the experimental results. (1) The combined GPS/GLONASS/Galileo/BDS/QZSS presents the PPP with the shortest mean convergence time of 11·5 min, followed by that of GPS/GLONASS/Galileo/BDS (12·4 min). (2) The combined GPS/GLONASS/BDS/Galileo/QZSS shows the optimal PPP performance when the cut-off elevation angle is basically the same because of the rich observation data due to a large number of satellites. To be specific, for combined GPS/GLONASS/BDS/Galileo/QZSS, the PPP convergence percentage is 80·9% higher relative to other combined systems under 35° cut-off elevation angle, and the percentages of the root mean square values of PPP within 0–5 cm are enhanced by 80·5%, 81·5% and 87·3% in the North, East and Up directions relative to GPS alone at 35° cut-off elevation angle. (3) GPS alone fails to conduct continuous positioning due to the insufficiency of visible satellites at 40° cut-off elevation angle, while the kinematic PPP of multi-GNSS/RNSS remains capable of obtaining positioning solutions with relatively high accuracy, especially in the horizontal direction.