Evaluation and analysis of real-time precise orbits and clocks products from different IGS analysis centers

Abstract

To meet the increasing demands from the real-time Precise Point Positioning (PPP) users, the real-time satellite orbit and clock products are generated by different International GNSS Service (IGS) real-time analysis centers and can be publicly received through the Internet. Based on different data sources and processing strategies, the real-time products from different analysis centers therefore differ in availability and accuracy. The main objective of this paper is to evaluate availability and accuracy of different real-time products and their effects on real-time PPP. A total of nine commonly used Real-Time Service (RTS) products, namely IGS01, IGS03, CLK01, CLK15, CLK22, CLK52, CLK70, CLK81 and CLK90, will be evaluated in this paper. Because not all RTS products support multi-GNSS, only GPS products are analyzed in this paper. Firstly, the availability of all RTS products is analyzed in two levels. The first level is the epoch availability, indicating whether there is outage for that epoch. The second level is the satellite availability, which defines the available satellite number for each epoch. Then the accuracy of different RTS products is investigated on nominal accuracy and the accuracy degradation over time. Results show that Root-Mean-Square Error (RMSE) of satellite orbit ranges from 3.8 cm to 7.5 cm for different RTS products. While the mean Standard Deviations of Errors (STDE) of satellite clocks range from 1.9 cm to 5.6 cm. The modified Signal In Space Range Error (SISRE) for all products are from 1.3 cm to 5.5 cm for different RTS products. The accuracy degradation of the orbit has the linear trend for all RTS products and the satellite clock degradation depends on the satellite clock types. The Rb clocks on board of GPS IIF satellites have the smallest degradation rate of less than 3 cm over 10 min while the Cs clocks on board of GPS IIF have the largest degradation rate of more than 10 cm over 10 min. Finally, the real-time kinematic PPP is carried out to investigate the effects of different real-time products. The CLK90 has the best performance and mean RMSE of 26 globally distributed IGS stations in three components are 3.2 cm, 6.6 cm and 8.5 cm. And the second-best positioning results are using IGS03 products.