Code Biases Research Articles

Impact of GPS differential code bias in dual- and triple-frequency positioning and satellite clock estimation

The features and differences of various GPS differential code bias (DCB)s are discussed. The application of these biases in dual- and triple-frequency satellite clock estimation is introduced based on this discussion. A method for estimating the satellite clock error from triple-frequency uncombined observations is presented to meet the need of the triple-frequency uncombined precise point positioning (PPP). In order to evaluate the estimated satellite clock error, the performance of these biases in dual- and triple-frequency positioning is studied. Analysis of the inter-frequency clock bias (IFCB), which is a result of constant and time-varying frequency-dependent hardware delays, in ionospheric-free code-based (P1/P5) single point positioning indicates that its influence on the up direction is more pronounced than on the north and east directions. When the IFCB is corrected, the mean improvements are about 29, 35 and 52% for north, east and up directions, respectively. Considering the contribution of code observations to PPP convergence time, the performance of DCB(P1–P2), DCB(P1–P5) and IFCB in GPS triple-frequency PPP convergence is investigated. The results indicate that the DCB correction can accelerate PPP convergence by means of improving the accuracy of the code observation. The performance of these biases in positioning further verifies the correctness of the estimated dual- and triple-frequency satellite clock error.

Receiver DCB estimation and GPS vTEC study at a low latitude station in the South Pacific

The statistical estimation of receiver differential code bias (DCB) of the GSV4004B receiver at a low latitude station, Suva (lat. 18.15°S, long. 178.45°E, Geomag. Lat. 21.07°S), Fiji, and the subsequent behaviour of vTEC, are presented. By means of least squares linear regression fitting technique, the receiver DCB was determined using the GPS vTEC data recorded during the year 2010, CODE TEC and IRI-2012 model for 2010. To substantiate the results, minimization of the standard deviation (SD) method was also used for GPS vTEC data. The overall monthly DCB was estimated to be in the range of 62.6 TECU. The vTEC after removing the resultant monthly DCB was consistent with other low latitude observations. The GPS vTEC 2010 data after eliminating the resultant DCB were lower in comparison to Faraday rotation vTEC measurements at Suva during 1984 primarily due to higher solar activity during 1984 as compared to 2010. Seasonally, vTEC was maximum during summer and minimum during winter. The winter showed least vTEC variability whereas equinox showed the largest daytime variability. The geomagnetic disturbances effect showed that both vTEC and its variability were higher on magnetically disturbed days as compared to quiet days with maximum variability in the daytime. Two geomagnetic storms of moderate strengths with main phases in the local daytime showed long duration (∼52h) increase in vTEC by 33–67% which can be accounted by changes in E×B drifts due to prompt penetration of storm-time auroral electric field in the daytime and disturbance dynamo electric field in the nighttime to low latitudes.

Estimation and analysis of Galileo differential code biases

When sensing the Earth’s ionosphere using dual-frequency pseudorange observations of global navigation satellite systems (GNSS), the satellite and receiver differential code biases (DCBs) account for one of the main sources of error. For the Galileo system, limited knowledge is available about the determination and characteristic analysis of the satellite and receiver DCBs. To better understand the characteristics of satellite and receiver DCBs of Galileo, the IGGDCB (IGG, Institute of Geodesy and Geophysics, Wuhan, China) method is extended to estimate the satellite and receiver DCBs of Galileo, with the combined use of GPS and Galileo observations. The experimental data were collected from the Multi-GNSS Experiment network, covering the period of 2013–2015. The stability of both Galileo satellite and receiver DCBs over a time period of 36 months was thereby analyzed for the current state of the Galileo system. Good agreement of Galileo satellite DCBs is found between the IGGDCB-based DCB estimates and those from the German Aerospace Center (DLR), at the level of 0.22 ns. Moreover, high-level stability of the Galileo satellite DCB estimates is obtained over the selected time span (less than 0.25 ns in terms of standard deviation) by both IGGDCB and DLR algorithms. The Galileo receiver DCB estimates are also relatively stable for the case in which the receiver hardware device stays unchanged. It can also be concluded that the receiver DCB estimates are rather sensitive to the change of the firmware version and that the receiver antenna type has no great impact on receiver DCBs.

Методика точного дифференциального позиционирования: краткий обзор

Abstract: This article contains general information about the precise method of differential positioning, known as «Precise Point Positioning» (PPP). The article listed the developers of this method and the authors of publications about it. The paper presents the code and carrier phase pseudorange models, which are used in PPP. It is given a shot description of the code signals correction algorithm in the navigation devices (Differential Code Bias – DCB). The article contains a description of the main sources of errors in PPP. The paper lists the corrections recommended by the International Earth Rotation and Reference Systems Service. These corrections are used in determining of the precise spatial position of the ground station. The authors pointed that PPP method is realized on precise ephemerid and time data, with corresponded mathematical apparatus. The deformations of earth crust have to be properly accounted. The publication contains information about the Internet services and software products which use the PPP method.

Global Ionospheric Modelling using Multi-GNSS: BeiDou, Galileo, GLONASS and GPS

The emergence of China’s Beidou, Europe’s Galileo and Russia’s GLONASS satellites has multiplied the number of ionospheric piercing points (IPP) offered by GPS alone. This provides great opportunities for deriving precise global ionospheric maps (GIMs) with high resolution to improve positioning accuracy and ionospheric monitoring capabilities. In this paper, the GIM is developed based on multi-GNSS (GPS, GLONASS, BeiDou and Galileo) observations in the current multi-constellation condition. The performance and contribution of multi-GNSS for ionospheric modelling are carefully analysed and evaluated. Multi-GNSS observations of over 300 stations from the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) networks for two months are processed. The results show that the multi-GNSS GIM products are better than those of GIM products based on GPS-only. Differential code biases (DCB) are by-products of the multi-GNSS ionosphere modelling, the corresponding standard deviations (STDs) are 0.06 ns, 0.10 ns, 0.18 ns and 0.15 ns for GPS, GLONASS, BeiDou and Galileo, respectively in satellite, and the STDs for the receiver are approximately 0.2~0.4 ns. The single-frequency precise point positioning (SF-PPP) results indicate that the ionospheric modelling accuracy of the proposed method based on multi-GNSS observations is better than that of the current dual-system GIM in specific areas.

Fast Precise Point Positioning: A System to Provide Corrections for Single and Multi-frequency Navigation

Fast Precise Point Positioning (Fast-PPP) provides Global Navigation Satellite System corrections in real-time. Satellite orbits and clock corrections are shown to be accurate to a few centimeters and a few tenths of a nanosecond which, together with the determination of the fractional part of the ambiguities, enable global high-accuracy positioning with undifferenced Integer Ambiguity Resolution. The new global ionospheric model is shown to provide corrections accurate at the level of 1 Total Electron Content Unit over well-sounded areas and Differential Code Biases at the level of tenths of a nanosecond. These corrections are assessed with permanent receivers, treated as rovers, located at 100 to 800 kilometers from the reference stations of the ionospheric model. Fast-PPP achieves decimeter-level of accuracy after few minutes, several times faster than single- and dual-frequency ionospheric-free solutions, using a month of Global Positioning System data close to the last Solar Maximum and including equatorial rovers.

Determination of Differential Code Bias of GNSS Receiver Onboard Low Earth Orbit Satellite

The uncertainty of differential code bias (DCB) is one of the main error sources in the low Earth orbit (LEO) based total electron content (TEC) retrieval, whereas the derivation of the LEO DCB is not systematically studied. In this paper, we propose an improved DCB estimation method (ZERO method) based on the assumption that the LEO-based TEC can reach zero and also optimize the parameter configuration in the commonly used least square method (LSQ method). In the improved ZERO method, the combination of the lower quartile minimum relative TEC during each orbital revolution with the daily minimum relative TEC gives a stable and reliable DCB estimation. For the LSQ method, the 3-TECU cutoff vertical TEC with 10° cutoff elevation is considered to offer a reasonable DCB estimation. Subsequently, Global Positioning System (GPS) observations from multiple LEO satellites at different altitudes are used to study the variability of the LEO DCBs. Our results revealed that the LEO DCBs underwent obvious long-term variation and periodic oscillations of months. Moreover, the CHAMP data illustrated that the long-term variation of LEO DCBs is partly associated with the GPS satellite replacement, and the periodic variation can be attributed to the variation of the hardware thermal status, represented by the receiver CPU temperature in this study.

BeiDou satellite’s differential code biases estimation based on uncombined precise point positioning with triple-frequency observable

The differential code bias (DCB) of BeiDou satellite is an important topic to make better use of BeiDou system (BDS) for many practical applications. This paper proposes a new method to estimate the BDS satellite DCBs based on triple-frequency uncombined precise point positioning (UPPP). A general model of both triple-frequency UPPP and Geometry-Free linear combination of Phase-Smoothed Range (GFPSR) is presented, in which, the ionospheric observable and the combination of triple-frequency satellite and receiver DCBs (TF-SRDCBs) are derived. Then the satellite and receiver DCBs (SRDCBs) are estimated together with the ionospheric delay that is modeled at each individual station in a weighted least-squares estimator, and the satellite DCBs are determined by introducing the zero-mean condition of all available BDS satellites. To validate the new method, 90day’s real tracking GNSS data (from January to March in 2014) collected from 9 Multi-GNSS Experiment (MGEX) stations (equipped with Trimble NETR9 receiver) is used, and the BDS satellite DCB products from German Aerospace Center (DLR) are taken as reference values for comparison. Results show that the proposed method is able to precisely estimate BDS satellite DCBs: (1) the mean value of the day-to-day scattering for all available BDS satellites is about 0.24ns, which is reduced in average by 23% when compared with the results derived by only GFPSR. Moreover, the mean value of the day-to-day scattering of IGSO satellites is lower than that of GEO and MEO satellites; (2) the mean value of RMS of the difference with respect to DLR DCB products is about 0.39ns, which is improved by an average of 11% when compared with the results derived by only GFPSR. Besides, the RMS of IGSO and MEO satellites is at the same level which is better than that of GEO satellites.

Three methods to retrieve slant total electron content measurements from ground‐based GPS receivers and performance assessment

AbstractThe high sampling rate along with the global coverage of ground‐based receivers makes Global Positioning System (GPS) data particularly ideal for sensing the Earth's ionosphere. Retrieval of slant total electron content measurements (TECMs) constitutes a key first step toward extracting various ionospheric parameters from GPS data. Within the ionospheric community, the interpretation of TECM is widely recognized as the slant total electron content along the satellite receiver line of sight, biased by satellite and receiver differential code biases (DCBs). The Carrier‐to‐Code Leveling (CCL) has long been used as a geometry‐free method for retrieving TECM, mainly because of its simplicity and effectiveness. In fact, however, the CCL has proven inaccurate as it may give rise to TECM very susceptible to so‐called leveling errors. With the goal of attaining more accurate TECM retrieval, we report in this contribution two other methods than the CCL, namely, the Precise Point Positioning (PPP) and the Array‐aided PPP (A‐PPP). The PPP further exploits the International GPS Service (IGS) orbit and clock products and turns out to be a geometry‐based method. The A‐PPP is designed to retrieve TECM from an array of colocated receivers, taking advantage of the broadcast orbit and clock products. Moreover, A‐PPP also takes into account the fact that the ionospheric effects measured from one satellite to all colocated receivers ought to be the same, thus leading to the estimability of interreceiver DCB. We perform a comparative study of the formal precision and the empirical accuracy of the TECM that are retrieved, respectively, by three methods from the same set of GPS data. Results of such a study can be used to assess the actual performance of the three methods. In addition, we check the temporal stability in A‐PPP‐derived interreceiver DCB estimates over time periods ranging from 1 to 3 days.

Mitigating BeiDou Satellite-Induced Code Bias: Taking into Account the Stochastic Model of Corrections

The BeiDou satellite-induced code biases have been confirmed to be orbit type-, frequency-, and elevation-dependent. Such code-phase divergences (code bias variations) severely affect absolute precise applications which use code measurements. To reduce their adverse effects, an improved correction model is proposed in this paper. Different from the model proposed by Wanninger and Beer (2015), more datasets (a time span of almost two years) were used to produce the correction values. More importantly, the stochastic information, i.e., the precision indexes, were given together with correction values in the improved model. However, only correction values were given while the precision indexes were completely missing in the traditional model. With the improved correction model, users may have a better understanding of their corrections, especially the uncertainty of corrections. Thus, it is helpful for refining the stochastic model of code observations. Validation tests in precise point positioning (PPP) reveal that a proper stochastic model is critical. The actual precision of the corrected code observations can be reflected in a more objective manner if the stochastic model of the corrections is taken into account. As a consequence, PPP solutions with the improved model outperforms the traditional one in terms of positioning accuracy, as well as convergence speed. In addition, the Melbourne-Wübbena (MW) combination which serves for ambiguity fixing were verified as well. The uncorrected MW values show strong systematic variations with an amplitude of half a wide-lane cycle, which prevents precise ambiguity determination and successful ambiguity resolution. After application of the code bias correction models, the systematic variations can be greatly removed, and the resulting wide lane ambiguities are more likely to be fixed. Moreover, the code residuals show more reasonable distributions after code bias corrections with either the traditional or the improved model.

Modeling and assessment of triple-frequency BDS precise point positioning

The latest generation of GNSS satellites such as GPS BLOCK-IIF, Galileo and BDS are transmitting signals on three or more frequencies, thus having more choices in practice. At the same time, new challenges arise for integrating the new signals. This paper contributes to the modeling and assessment of triple-frequency PPP with BDS data. First, three triple-frequency PPP models are developed. The observation model and stochastic model are designed and extended to accommodate the third frequency. In particular, new biases such as differential code biases and inter-frequency biases as well as the parameterizations are addressed. Then, the relationships between different PPP models are discussed. To verify the triple-frequency PPP models, PPP tests with real triple-frequency data were performed in both static and kinematic scenarios. Results show that the three triple-frequency PPP models agree well with each other. Additional frequency has a marginal effect on the positioning accuracy in static PPP tests. However, the benefits of third frequency are significant in situations of where there is poor tracking and contaminated observations on frequencies B1 and B2 in kinematic PPP tests.

Performance Evaluation of the Early CNAV Navigation Message

Following an initial test campaign in June 2013, the GPS Directorate has initiated a pre-operational routine generation and transmission of the Civil Navigation Message CNAV starting on 28 April 2014. The new message is broadcast by Block IIR-M satellites on the L2C signal as well as the L2C and L5 signals of the Block IIF satellites. The improved resolution and larger number of parameters in the new CNAV ephemeris message offers a notably reduced ephemeris fitting error and largely avoids the discontinuities of consecutive ephemeris messages from the same upload. CNAV data of the Block IIR-M and IIF satellites have been collected since the start of transmission using a small set of globally distributed receivers offering an almost continuous coverage. Based on comparison with precise ephemerides of the International GNSS Service (IGS), a Signal-in-Space Range Error (SISRE) of about 1.1 m is obtained for the CNAV message whereas it is 0.6 m for the legacy navigation message (LNAV). This degraded performance is related to less frequent CNAV updates resulting in prediction times of up to four days. For a three week period with a daily CNAV update rate almost the same SISRE is obtained as for LNAV. Complementary to the SISRE analysis, the new Inter-Signal Corrections (ISCs) have been monitored, which enable users to correctly account for differential code biases (DCBs) when using other signals than the L1/L2 P(Y)-code observations in real-time positioning applications. The broadcast ISC values agree with DCBs derived in the frame of the IGS Multi-GNSS Experiment and DCBs from the Center for Orbit Determination in Europe on the 0.1 – 2 ns level depending on the ISC type. While users of the the civil L1C/A and L2C signals have, so far, experienced a notably degraded positioning, the ISCs now enable a single point positioning accuracy that is fully competitive with that of semi-codeless P(Y)-code receivers.

Zero‐baseline Analysis of GPS/BeiDou/Galileo Between‐Receiver Differential Code Biases (BR‐DCBs): Time‐wise Retrieval and Preliminary Characterization

When sensing Earth's ionosphere using multiple Global Navigation Satellite Systems (GNSSs), special care needs to be taken with the receiver differential code bias (DCB) contributions to the error budget. We propose a method that is able to time-wisely retrieve the Between-Receiver DCBs (BR-DCBs) from code measurements collected by a zero-baseline setup, thereby eliminating most common error sources. We base our investigations on dual-frequency GPS (L1 + L2), BeiDou (B1 + B2), and Galileo (E1 + E5a) measurements collected in 2013 with a 30 second sampling rate by four multi-GNSS receivers of three types connected to one common antenna. For each receiver-pair, we determine the time-wise estimates of GPS/GEO/IGSO/MEO/Galileo BR-DCBs from the corresponding code measurements. We confirm that (1) the time-wise estimates of BR-DCBs for all tested receiver-pairs exhibit good intra-day stability and (2) the daily weighted average (DWA) estimates of GEO/IGSO/MEO BR-DCBs are inconsistent for receiver-pairs of mixed type, due to the presence of BeiDou code inter-satellite-type biases (ISTBs). We also identify likely factors accounting for variability in DWA estimates of BR-DCBs over a one-year interval. Copyright © 2016 Institute of Navigation Copyright © 2016 Institute of Navigation

A method of undifferenced ambiguity resolution for GPS+GLONASS precise point positioning.

Integer ambiguity resolution is critical for achieving positions of high precision and for shortening the convergence time of precise point positioning (PPP). However, GLONASS adopts the signal processing technology of frequency division multiple access and results in inter-frequency code biases (IFCBs), which are currently difficult to correct. This bias makes the methods proposed for GPS ambiguity fixing unsuitable for GLONASS. To realize undifferenced GLONASS ambiguity fixing, we propose an undifferenced ambiguity resolution method for GPS+GLONASS PPP, which considers the IFCBs estimation. The experimental result demonstrates that the success rate of GLONASS ambiguity fixing can reach 75% through the proposed method. Compared with the ambiguity float solutions, the positioning accuracies of ambiguity-fixed solutions of GLONASS-only PPP are increased by 12.2%, 20.9%, and 10.3%, and that of the GPS+GLONASS PPP by 13.0%, 35.2%, and 14.1% in the North, East and Up directions, respectively.

Estimating and assessing Galileo navigation system satellite and receiver differential code biases using the ionospheric parameter and differential code bias joint estimation approach with multi‐GNSS observations

AbstractWith the increased number of Galileo navigation satellites joining the Global Navigation Satellite Systems (GNSS) service, there is a strong need for estimating their differential code biases (DCBs) for high‐precision GNSS applications. There have been studies for estimating DCBs based on an external global ionospheric model (GIM) proposed by Montenbruck et al. (2014). In this study, we take a different approach by joining the construction of a GIM and estimating DCB together with multi‐GNSS observations, including GPS, the BeiDou navigation system, and the Galileo navigation system (GAL). This approach takes full advantage of the collective strength of the individual systems while maintaining high solution consistency. Daily GAL DCBs were estimated simultaneously with ionospheric model parameters from 3 months' multi‐GNSS observations. The stability of the resulting GAL DCB estimates was analyzed in detail. It was found that the standard deviations (STDs) of all satellite DCBs were less than 0.17 ns. For GAL receivers, the STDs were greater than for the satellites, with most values <2 ns. Comparison of the statistics of time‐ranged stability of satellite DCBs over different time intervals revealed that the difference in STD between 28 and 7 day intervals was small, with the maximum not exceeding 0.01 ns. In almost all cases, the difference in GAL satellite DCBs between two consecutive days was <0.8 ns. The main conclusion is that based on the stability of the GAL DCBs, only occasional calibration is required. Furthermore, the 30 day‐averaged satellite DCBs may satisfy the requirement of high‐precision applications depending on the GAL satellite DCBs.

Temporal and spatial variation of differential code biases: A case study of regional network in Egypt

Measurements of Global Positioning Satellite System receivers are affected by systematic offsets related to group and phase delays of the signal generation and processing chain. One of the important factors affecting the ionosphere Total Electron Content estimation accuracy is the hardware differential code biases inherited in both Global Positioning System satellites and receivers. The resulting code and phase biases depend on the transmission frequency and the employed signal modulation. An efficient algorithm using the geometry conditions between satellite and tracking receivers is proposed to determine the receiver differential code biases using Egyptian permanent reference stations. This method does not require a traditional single-layer ionosphere model and can be used for estimating differential code biases of receivers in a regional network.This paper estimates receiver differential code biases for nine receivers located within Egyptian network. The results showed that the estimated mean value of the receiver differential code biases varied from −28ns (nanosecond) to 39ns. It is clear from the results that differential code biases values for Egyptian sites do not vary much with latitude and longitude, except at Aswan and Abu Simpel. Differential code biases values increase gradually with increasing height.

A novel satellite-equipped receiver for autonomous monitoring of GNSS navigation signal quality

Global navigation satellite system (GNSS) comes with potential unavoidable application risks such as the sudden distortion or failure of navigation signals because its satellites are generally operated until failure. In order to solve the problems associated with these risks, receiver autonomous integrity monitoring (RAIM) and ground-based signal quality monitoring stations are widely used. Although these technologies can protect the user from the risks, they are expensive and have limited region coverage. Autonomous monitoring of satellite signal quality is an effective method to eliminate these shortcomings of the RAIM and ground-based signal quality monitoring stations; thus, a new navigation signal quality monitoring receiver which can be equipped on the satellite platform of GNSS is proposed in this paper. Because this satellite-equipped receiver is tightly coupled with navigation payload, the system architecture and its preliminary design procedure are first introduced. In theory, code-tracking loop is able to provide accurate time delay estimation of received signals. However, because of the nonlinear characteristics of the navigation payload, the traditional code-tracking loop introduces errors. To eliminate these errors, the dummy massive parallel correlators (DMPC) technique is proposed. This technique can reconstruct the cross correlation function of a navigation signal with a high code phase resolution. Combining the DMPC and direct radio frequency (RF) sampling technology, the satellite-equipped receiver can calibrate the differential code bias (DCB) accurately. In the meantime, the abnormities and failures of navigation signal can also be monitored. Finally, the accuracy of DCB calibration and the performance of fault monitoring have been verified by practical test data and numerical simulation data, respectively. The results show that the accuracy of DCB calibration is less than 0.1 ns and the novel satellite-equipped receiver can monitor the signal quality effectively.

Assessment of BeiDou differential code bias variations from multi-GNSS network observations

Abstract. The differential code bias (DCB) of global navigation satellite systems (GNSSs) affects precise ionospheric modeling and applications. In this paper, daily DCBs of the BeiDou Navigation Satellite System (BDS) are estimated and investigated from 2-year multi-GNSS network observations (2013–2014) based on global ionospheric maps (GIMs) from the Center for Orbit Determination in Europe (CODE), which are compared with Global Positioning System (GPS) results. The DCB of BDS satellites is a little less stable than GPS solutions, especially for geostationary Earth orbit (GEO) satellites. The BDS GEO observations decrease the precision of inclined geosynchronous satellite orbit (IGSO) and medium Earth orbit (MEO) DCB estimations. The RMS of BDS satellites DCB decreases to about 0.2 ns when we remove BDS GEO observations. Zero-mean condition effects are not the dominant factor for the higher RMS of BDS satellites DCB. Although there are no obvious secular variations in the DCB time series, sub-nanosecond variations are visible for both BDS and GPS satellites DCBs during 2013–2014. For satellites in the same orbital plane, their DCB variations have similar characteristics. In addition, variations in receivers DCB in the same region are found with a similar pattern between BDS and GPS. These variations in both GPS and BDS DCBs are mainly related to the estimated error from ionospheric variability, while the BDS DCB intrinsic variation is in sub-nanoseconds.

On biases in precise point positioning with multi-constellation and multi-frequency GNSS data

Various types of biases in Global Navigation Satellite System (GNSS) data preclude integer ambiguity fixing and degrade solution accuracy when not being corrected during precise point positioning (PPP). In this contribution, these biases are first reviewed, including satellite and receiver hardware biases, differential code biases, differential phase biases, initial fractional phase biases, inter-system receiver time biases, and system time scale offset. PPP models that take account of these biases are presented for two cases using ionosphere-free observations. The first case is when using primary signals that are used to generate precise orbits and clock corrections. The second case applies when using additional signals to the primary ones. In both cases, measurements from single and multiple constellations are addressed. It is suggested that the satellite-related code biases be handled as calibrated quantities that are obtained from multi-GNSS experiment products and the fractional phase cycle biases obtained from a network to allow for integer ambiguity fixing. Some receiver-related biases are removed using between-satellite single differencing, whereas other receiver biases such as inter-system biases are lumped with differential code and phase biases and need to be estimated. The testing results show that the treatment of biases significantly improves solution convergence in the float ambiguity PPP mode, and leads to ambiguity-fixed PPP within a few minutes with a small improvement in solution precision.

Assessment of code bias variations of BDS triple-frequency signals and their impacts on ambiguity resolution for long baselines

Carrier phase ambiguity resolution over long baselines is challenging in BDS data processing. This is partially due to the variations of the hardware biases in BDS code signals and its dependence on elevation angles. We present an assessment of satellite-induced code bias variations in BDS triple-frequency signals and the ambiguity resolutions procedures involving both geometry-free and geometry-based models. First, since the elevation of a GEO satellite remains unchanged, we propose to model the single-differenced fractional cycle bias with widespread ground stations. Second, the effects of code bias variations induced by GEO, IGSO and MEO satellites on ambiguity resolution of extra-wide-lane, wide-lane and narrow-lane combinations are analyzed. Third, together with the IGSO and MEO code bias variations models, the effects of code bias variations on ambiguity resolution are examined using 30-day data collected over the baselines ranging from 500 to 2600 km in 2014. The results suggest that although the effect of code bias variations on the extra-wide-lane integer solution is almost ignorable due to its long wavelength, the wide-lane integer solutions are rather sensitive to the code bias variations. Wide-lane ambiguity resolution success rates are evidently improved when code bias variations are corrected. However, the improvement of narrow-lane ambiguity resolution is not obvious since it is based on geometry-based model and there is only an indirect impact on the narrow-lane ambiguity solutions.