Abstract
Multi-frequency and multi-GNSS integration is currently becoming an important trend in the development of satellite navigation and positioning technology. In this paper, GPS/Galileo/BeiDou (BDS) precise point positioning (PPP) with ambiguity resolution (AR) are discussed in detail. The mathematical model of triple-system PPP AR and the principle of fractional cycle bias (FCB) estimation are firstly described. With the data of 160 stations in Multi-GNSS Experiment (MGEX) from day of year (DOY) 321-350, 2018, the FCBs of the three systems are estimated and the experimental results show that the range of most GPS wide-lane (WL) FCB is within 0.1 cycles during one month, while that of Galileo WL FCB is 0.05 cycles. For BDS FCB, the classification estimation method is used to estimate the BDS FCB and divide it into GEO and non-GEO (IGSO and MEO) FCB. The variation range of BDS GEO WL FCB can reach 0.5 cycles, while BDS non-GEO WL FCB does not exceed 0.1 cycles within a month. However, the accuracies of GPS, Galileo, and BDS non-GEO narrow-lane (NL) FCB are basically the same. In addition, the number of visible satellites and Position Dilution of Precision (PDOP) values of different combined systems are analyzed and evaluated in this paper. It shows that the triple-system combination can significantly increase the number of observable satellites, optimize the spatial distribution structure of satellites, and is significantly superior to the dual-system and single-system. Finally, the positioning characteristics of single-, dual-, and triple-systems are analyzed. The results of the single station positioning experiment show that the accuracy and convergence speed of the fixed solutions for each system are better than those of the corresponding float solutions. The average root mean squares (RMSs) of the float and the fixed solution in the east and north direction for GPS/Galileo/BDS combined system are the smallest, being 0.92 cm, 0.52 cm and 0.50 cm, 0.46 cm respectively, while the accuracy of the GPS in the up direction is the highest, which is 1.44 cm and 1.27 cm, respectively. Therefore, the combined system can accelerate the convergence speed and greatly enhance the stability of the positioning results.
Highlights
Precise point positioning (PPP) has been widely used in many fields, such as navigation, deformation monitoring, GNSS meteorology, autonomous driving, and so forth [1,2,3,4]
The results demonstrated that the average time of the first fixed solution of the combined system can be reduced by 27.4% and 42.0% when compared with the single GPS in static and kinematic modes
This paper investigates the method of GPS/Galileo/BeiDou Navigation Satellite System (BDS) precise point positioning with ambiguity resolution
Summary
Precise point positioning (PPP) has been widely used in many fields, such as navigation, deformation monitoring, GNSS meteorology, autonomous driving, and so forth [1,2,3,4]. There are still some technical defects that restrict the breadth and depth of its applications [5,6]. It usually takes about half an hour to converge, which is one of the main problems for PPP. In many cases, the robustness of the single navigation system cannot be guaranteed. To address these two issues, multi-GNSS PPP with ambiguity resolution (AR) is proposed.
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