Orbit Errors Research Articles

Interseismic deformation rate of the Haiyuan fault system based on the modified SBAS method

Radar interferograms are usually influenced by factors such as atmospheric artifacts, orbital errors, and terrain errors. It is difficult to reduce the influence by using the conventional small baseline subset (SBAS) method when determining the deformation rate. This study uses the adjustment model with systematic parameters to improve the conventional SBAS method and employs it to determine the interseismic deformation rate of the Haiyuan fault system, providing a data reference for exploring the locking depth, strain accumulation state, and potential seismic risk assessment of different segments of the Haiyuan fault system. The results are as follows: (1) the simulation experiment verifies the feasibility and robustness of the modified SBAS method. This method can effectively reduce the influence of residual signals such as atmospheric artifacts, orbital errors and terrain errors in the interferograms. The deformation rate map can be significantly improved; (2) the deformation rate field in the radar's Line of Sight (LOS) direction shows that there are obvious differences between the north and south sides of Haiyuan fault system, which is consistent with the characteristics of the left-lateral strike-slip movement of the Haiyuan fault system. The deformation rate field and profiles reflect the complex trends among different segments of Haiyuan fault system in detail. (3) the deformation rate of the Jingtai pull-apart basin is higher than that of the surrounding areas, possibly indicating strong regional activity, which provides a reference for studying the seismic risk of the Jingtai pull-apart basin; and (4) the interseismic deformation rate and profiles across the fault show that the middle section of the Lao Hu Shan (LHS) segment and the western and middle sections of the Haiyuan segment are locked.

The Potential of LEO Satellite-Based Opportunistic Navigation for High Dynamic Applications.

Resilient navigation in Global Navigation Satellite System (GNSS)-degraded and -denied environments is becoming more and more required for many applications. It can typically be based on multi-sensor data fusion that relies on alternative technologies to GNSS. In this work, we studied the potential of a low earth orbit (LEO) satellite communication system for a high-dynamic application, when it is integrated with an inertial measurement unit (IMU) and magnetometers. We derived the influence of the main error sources that affect the LEO space vehicle (SV) Doppler-based navigation on both positioning and attitude estimations. This allowed us to determine the best, intermediate and worst cases of navigation performances. We show that while the positioning error is large due to large orbit errors or high SV clock drifts, it becomes competitive with that of an inertial navigation system (INS) based on a better quality IMU if precise satellite orbits are available. On the other hand, the attitude estimation tolerates large orbit errors and high SV clock drifts. The obtained results suggest that LEO SV signals, used as signals of opportunity for navigation, are an attractive alternative in GNSS-denied environments for high dynamic vehicles.

Advancing the Solar Radiation Pressure Model for BeiDou-3 IGSO Satellites

In the absence of detailed surface information, empirical solar radiation pressure (SRP) models, such as the five-parameter Empirical CODE Orbit Model (ECOM1) and its extended version-ECOM2, are widely used for modeling SRP forces acting on GNSS satellites. This study shows that the orbits of BeiDou-3 Inclined Geosynchronous Orbit satellites (IGSOs) determined with the ECOM1 model suffer from systematic once-per-revolution radial orbit errors, which can be partly reduced by the ECOM2 model. To eliminate such orbit errors, the BeiDou-3 IGSO optical coefficients are solved by using an adjustable box-wing (ABW) model and then introduced into an a priori box-wing SRP model to enhance the ECOM1 model (ECOM1 + BW). In the ABW solution, in addition to satellite body and solar panels, the contributions of the communication payloads installed on BeiDou-3 IGSO ±X panels on the SRP are also considered, which markedly improves the stability of the optical coefficient estimates. The efficiency of the developed a priori box-wing model is demonstrated through eliminated once-per-revolution radial orbit errors and decreased day boundary discontinuities. However, the orbit solutions still show significant degradations during eclipse seasons. The results of the first yaw-attitude analysis for eclipsing BeiDou-3 IGSOs show that their yaw behaviors are the same as those of BeiDou-3 CAST (China Academy of Space Technology) MEOs (Medium Earth Orbit satellites), and have been well considered in the study. This rules out the possibility that attitude errors are the potential reason for the orbit deterioration. By introducing a once-per-revolution sine term in the Sun direction (Ds term) and keeping Ds active during the Earth’s shadow transitions to the ECOM1 + BW model, the orbit performance inside the eclipse seasons is significantly improved and can be comparable to that outside the eclipse seasons.

Learning‐based super‐twisting sliding‐mode control for space circumnavigation mission with suboptimal reaching under input constraints

AbstractThe problem of attitude‐orbit synchronous finite‐time control for the space circumnavigation (SCN) mission with input constraints is investigated in this research article. A novel terminal sliding‐mode (TSM) manifold with nonsingular first derivative is developed to ensure that the sliding‐mode reduced‐order system is practical finite‐time stable. Then, the learning‐based adaptive dynamic programming (ADP) technique is adopted to design a super‐twisting sliding‐mode control scheme, so that the proposed TSM is suboptimal reached. Especially, benefited from the introduction of two nonlinear performance indexes, the proposed sliding‐mode control strategy satisfies the saturation constraint of the propulsion system, and the weight update rate of the actor‐critic (AC) network will not be too large, even if the initial value of the system is too large. Finally, the simulation results show that both attitude and orbital tracking errors in the SCN mission are forced to converge to a small neighborhood containing the origin synchronously under input saturation constraints.

Coseismic Deformation Field Extraction and Fault Slip Inversion of the 2021 Yangbi MW 6.1 Earthquake, Yunnan Province, Based on Time-Series InSAR

An earthquake of moderate magnitude (MW 6.1) occurred in Yangbi County, Dali, Yunnan Province, China, on 21 May 2021. Compared to strong earthquakes, the measurement of the deformation fields of moderate earthquakes is more susceptible to errors associated with atmospheric, orbital, and topographic features. We adopted a new time-series InSAR method to process preseismic and postseismic Sentinel-1A SAR time-series images and separated the coseismic deformation signals from various error signals. This method uses preseismic time-series interferograms to estimate the spatially correlated look angle error induced by the digital elevation model and the atmospheric and orbital errors in the master image. The preseismic and postseismic time-series interferograms were then segmented for spatio-temporal filtering to provide a precise estimate of the atmospheric and orbital errors in slave images. Such time-series processing accurately separates various errors from the coseismic deformation signal and prevents the coseismic deformation signal from being included as noise in the error estimation during filtering. Based on this approach, we effectively eliminated the masking of the deformation signal by the errors and extracted coseismic deformation field of the Yangbi MW 6.1 earthquake with high precision. The maximum LOS displacement in the ascending and descending tracks were determined to be −74 and −62 mm, respectively. Subsequently, we used the Geodetic Bayesian Inversion Software to invert the fault geometric parameters of this earthquake, and based on this inverted the rupture slip distribution using the least-squares method. The results showed that the fault orientation is 133.43°, dip angle is 76.98°, source depth is 5.5 km, fault sliding mode is right-lateral strike-slip. The moment magnitude (MW) was calculated to be 6.07.

Improving the Orbits of the BDS-2 IGSO and MEO Satellites with Compensating Thermal Radiation Pressure Parameters

The orbit accuracy of the navigation satellites relies on the accurate knowledge of the forces on the spacecraft, in particular the non-conservative perturbations. This study focuses on the Inclined Geosynchronous Orbit (IGSO) and Medium Earth Orbit (MEO) satellites of the regional Chinese BeiDou Navigation Satellite System (BDS-2), for which apparent deficiencies of non-conservative models are identified and evidenced in the Satellite Laser Ranging (SLR) residuals. The orbit errors derived from the empirical 5-parameter Extended CODE Orbit Model (ECOM) as well as a semi-analytical adjustable box-wing model show prominent dependency on the Sun elongation angle, even in the yaw-steering attitude mode. Hence, a periodic acceleration in the normal direction of the +X surface, presumably generated by the mismodeled thermal radiation pressure, is introduced. The SLR validations reveal that the Sun elongation angle-dependent systematic errors were significantly reduced, and the orbit accuracy was improved by 10–30% to approximately 4.5 cm and 3.0 cm for the BDS-2 IGSO and MEO satellites, respectively.

VLBI technique for the orbit determination of Tianwen-1

<p indent="0mm">Since the launch of the Tianwen-1 probe on July 23, 2020, the orbit of this probe has been determined using very long baseline interferometry (VLBI) together with Doppler and ranging, and the Zhurong Mars rover has been located. More than 40 software and hardware sets have been developed, tested, and installed for VLBI to meet the Tianwen-1 high-precision orbit determination requirements. Until June 18, 2021, 198 VLBI observations have been performed. The measurement errors in VLBI time delay and time delay rate are <sc>0.11 ns</sc> and <sc>0.33 ps/s,</sc> respectively. The orbit error of Tianwen-1 during the interplanetary cruise is <sc>~2 km,</sc> and it is <sc>~1 km</sc> around Mars. Additionally, the positioning accuracy of the Mars rover is several km. VLBI has made important contributions to trajectory correction, deep-space, near Mars capture, and far Mars maneuvers, Mars landing, etc. It has laid a good foundation for future deep-space probe precision orbit determination. Therefore, this paper introduces the technical upgrade of the VLBI network and presents the analysis and implementation of VLBI measurement and orbit determination.

Effect of PCV and attitude on the precise orbit determination of Jason-3 satellite

Abstract Satellite attitude modes and antenna phase center variations have a great influence on the Precise Orbit Determination (POD) of Low Earth Orbit satellites (LEOs). Inaccurate information about spacecraft attitude, phase center offsets and variations in the POD leads to orbital error. The Jason-3 satellite experienced complex attitude modes which are fixed, sinusoidal, ramp-up/down and yaw-flip. Therefore, it is necessary to properly construct the attitude model in the process of POD especially when there is no external attitude data. For the antenna phase center correction, the PCO which is the deviation between Antenna Reference Point (ARP) and Mean Antenna Phase Center (MAPC) usually can be calibrated on the ground accurately, but the PCV which is the deviation between Instantaneous Antenna Phase Center (IAPC) and Mean Antenna Phase Center (MAPC) will change greatly with the change of space environment. Residual approach can be used to estimate the receiver PCV map. In this paper, we collected the on-board GPS data of Jason-3 satellite from January 2019 and analyzed the impacts of PCV and spacecraft attitude on the orbit accuracy by performing the reduced-dynamic POD. Compared with the reference orbit released by the Centre National d’Études Spatiales (CNES), using the PCV map can reduce the Root Mean Square (RMS) of orbit differences in the Radial (R), Along-track (T), Cross-track (N) and 3D direction about 0.3, 1.0, 0.9, and 1.4 mm. Based on the estimated PCV map, the orbit accuracy in R, T, N and 3D direction is 1.24, 2.81, 1.17, and 3.29 cm respectively by using the measured attitude data. When using the attitude model, the orbit accuracy in R, T, N and 3D directions is 1.60, 3.54, 1.33, and 4.13 cm, respectively. The results showed that the combination of measured attitude data and modeled PCV map can obtain the better orbit solution. It is essential to build a corresponding model in high-precision orbit determination, when there is no attitude data and PCV map.

INSIGHT INTO SPATIAL ANALYSIS OF GPS BROADCAST ORBIT ERROR TOWARDS ORBITAL IMPROVEMENT

Abstract. Broadcast orbits are compared against final orbit to get the error of broadcast orbit. The errors are analysed by presenting the error over space, especially longitude. The satellite trajectory is divided into three sector namely northern, southern, and transitional sectors. Spatial analysis show that the error is correlated with the latitude and longitude. Some consistency pattern can be observed from the distribution of the error in the spatial analysis. Standard deviation (SD) is used to quantify the consistency, providing more quantitative insights into the spatial analysis. Four patterns can be observed in the error distribution, namely consistency in northern and southern sector, consistency of transitional sector, changes after transitional sector, and correlation between ΔX component and ΔY component. The spatial analysis shows potential to be used in broadcast orbit error estimation and prediction. A model that uses this predicted broadcast orbit error as a correction will be designed in the future to improve the broadcast orbit accuracy.

Multi-GNSS Combined Orbit and Clock Solutions at iGMAS.

Global navigation services from the quad-constellation of GPS, GLONASS, BDS, and Galileo are now available. The international GNSS monitoring and assessment system (iGMAS) aims to evaluate the navigation performance of the current quad systems under a unified framework. In order to assess impact of orbit and clock errors on the positioning accuracy, the user range error (URE) is always taken as a metric by comparison with the precise products. Compared with the solutions from a single analysis center, the combined solutions derived from multiple analysis centers are characterized with robustness and reliability and preferred to be used as references to assess the performance of broadcast ephemerides. In this paper, the combination method of iGMAS orbit and clock products is described, and the performance of the combined solutions is evaluated by various means. There are different internal precisions of the combined orbit and clock for different constellations, which indicates that consistent weights should be assigned for individual constellations and analysis centers included in the combination. For BDS-3, Galileo, and GLONASS combined orbits of iGMAS, the root-mean-square error (RMSE) of 5 cm is achieved by satellite laser ranging (SLR) observations. Meanwhile, the SLR residuals are characterized with a linear pattern with respect to the position of the sun, which indicates that the solar radiation pressure (SRP) model adopted in precise orbit determination needs further improvement. The consistency between combined orbit and clock of quad-constellation is validated by precise point positioning (PPP), and the accuracies of simulated kinematic tests are 1.4, 1.2, and 2.9 cm for east, north, and up components, respectively.

Isolating Orbital Error From Multitemporal InSAR Derived Tectonic Deformation Based on Wavelet and Independent Component Analysis

Isolating the orbital error from the interferometric synthetic aperture radar (InSAR) observations is a great challenge, especially in the presence of tectonic deformation due to their similar spatial patterns. The influence of orbital error is systematic, which can reduce the reliability of deformation monitoring. In this letter, we propose a method to isolate the orbital error from the multitemporal InSAR (MTInSAR) derived tectonic deformation based on the wavelet multiresolution analysis and independent component analysis (ICA). Starting from the sequential interferometric phase of unwrapping, the tectonic deformation and orbital error are firstly extracted from the interferometric phase by wavelet analysis based on their longwavelength spatial patterns, and ICA is then used to isolate the orbital error from the tectonic deformation according to the different temporal characteristics of the two types of signals. In the simulation experiment, the root-mean-square error (RMSE) of the isolated orbital error is 2.6 mm. Experiments with real data in Southern California show that the proposed method can successfully separate the orbital error from the tectonic deformation, and the InSAR deformation rates are in good agreement with the GPS observations.

An Orbital Error Correction Model Based on Triplet Network and Shrunken Estimation

Orbital error, one of major error sources of InSAR observations, is characterized by long wavelength artifacts which can downgrade the monitoring accuracy, especially for wideswath SAR missions. In this paper, we present a novel approach for time series orbital error correction, with an emphasis on the computational and estimation efficiency of orbital error parameters over wide-area scale scenes. The proposed method combines the temporal triplet network and shrunken estimator, which integrates <i>L</i>²-Norm with <i>L</i>¹-Norm regularization, also known as Lasso regularization. The rationale behind it is to first determine the initial orbital parameters by utilizing the traditional polynomial-based method in the spatial domain. Next, in order to weaken the interference of phase unwrapping errors and other undesired phase contributions, an additional correction procedure is implemented through building up redundant triplet network in the time domain and further a shrunken estimation method. Experiments on synthetic data and real Sentinel-1 datasets covering Eastern California confirm that the presented method can better balance the accuracy and computational efficiency. The proposed approach may therefore be useful for the processing of emerging big data InSAR.

An Autofocus Back Projection Algorithm for GEO SAR Based on Minimum Entropy

Due to the extremely high orbital height and long synthetic aperture time, the geosynchronous synthetic aperture radar (GEO SAR) will inevitably suffer from different types of undesired errors, including atmosphere, orbital measurement error, antenna vibration, and scenery height fluctuation; moreover, because of the extremely large imaging swath, these undesired errors also have severe 2-D spatial variance. Thus, the autofocus processing plays a very important role in GEO SAR. However, current autofocus algorithms cannot handle all of the aforementioned complicated and 2-D spatial-variant errors simultaneously. In this article, an autofocus back projection (BP) method for GEO SAR based on minimum entropy is proposed. First, the BP algorithm based on a digital elevation model (DEM) is adopted to deal with the scenery height fluctuation. Then, the 2-D image segmentation is conducted to solve the spatial variance of the undesired errors. Subsequently, without the assumption of error type and considering both the amplitude error and phase error, the autofocus processing based on minimum entropy and adaptive moment estimation (Adam) is conducted to estimate the undesired errors iteratively and precisely. Moreover, the aperture division and sub-aperture fusion will also be utilized to alleviate the image quality degradation or even defocus, which could also improve the precision of error estimation. Finally, computer simulation results validate the effectiveness of the proposed method.

Robust Modeling of GNSS Orbit and Clock Error Dynamics

<h3>Abstract</h3> In this paper, we develop new stochastic orbit and clock error models for positioning, fault detection, and integrity monitoring over time. GPS and Galileo orbit and clock data are evaluated and ranging errors are analyzed and modeled over time. This work is intended for time-sequential safety-critical navigation systems including global navigation satellite systems (GNSSs) integrated with inertial navigation systems (INSs) and Kalman filter implementations of Advanced Receiver Autonomous Integrity Monitoring (ARAIM).

River Slope Observation From Spaceborne GNSS-R Carrier Phase Measurements: A Case Study

This letter demonstrates the potential of estimating river surface slope using space-borne global navigation satellite system-reflectometry (GNSS-R) carrier phase measurements. A case study is presented where the slopes of several segments of the Orinoco river are retrieved based on the processing of raw intermediate-frequency (IF) data recorded by the cyclone global navigation satellite system (CYGNSS) mission. The retrieved river slopes mostly vary between 3.9 and 5.1 cm/km and are in agreement with the surveyed mean slope of 4.5 cm/km for the lower Orinoco River. The correction and calibration of several systematic errors, i.e., CYGNSS satellite orbit errors, tropospheric and ionospheric effects, and river surface reference height error, are discussed in this letter. For the Orinoco River case study, the river slope retrieval is calibrated using the reflection signal over a nearby lake to mitigate the mis-modeled and unmodeled errors. Analysis of the specular point (SP) tracks of GPS reflection signal indicates that CYGNSS has the potential to provide river slope observations for rivers that have sufficient width with high temporal and spatial resolutions.

Parameterized Modeling and Calibration for Orbital Error in TanDEM-X Bistatic SAR Interferometry over Complex Terrain Areas

The TerraSAR-X add-on for Digital Elevation Measurements (TanDEM-X) bistatic system provides high-resolution and high-quality interferometric data for global topographic measurement. Since the twin TanDEM-X satellites fly in a close helix formation, they can acquire approximately simultaneous synthetic aperture radar (SAR) images, so that temporal decorrelation and atmospheric delay can be ignored. Consequently, the orbital error becomes the most significant error limiting high-resolution SAR interferometry (InSAR) applications, such as the high-precision digital elevation model (DEM) reconstruction, subway and highway deformation monitoring, landslide monitoring and sub-canopy topography inversion. For rugged mountainous areas, in particular, it is difficult to estimate and correct the orbital phase error in TanDEM-X bistatic InSAR. Based on the rigorous InSAR geometric relationship, the orbital phase error can be attributed to the baseline errors (BEs) after fixing the positions of the master SAR sensor and the targets on the ground surface. For the constraint of the targets at a study scene, the freely released TanDEM-X DEM can be used, due to its consistency with the TanDEM-X bistatic InSAR-measured height. As a result, a parameterized model for the orbital phase error estimation is proposed in this paper. In high-resolution and high-precision TanDEM-X bistatic InSAR processing, due to the limited precision of the navigation systems and the uneven baseline changes caused by the helix formation, the BEs are time-varying in most cases. The parameterized model is thus built and estimated along each range line. To validate the proposed method, two mountainous test sites located in China (i.e., Fuping in Shanxi province and Hetang in Hunan province) were selected. The obtained results show that the orbital phase errors of the bistatic interferograms over the two test sites are well estimated. Compared with the widely applied polynomial model, the residual phase corrected by the proposed method contains little undesirable topography-dependent phase error, and avoids unexpected height errors ranging about from −6 m to 3 m for the Fuping test site and from −10 m to 8 m for the Hetang test site. Furthermore, some fine details, such as ridges and valleys, can be clearly identified after the correction. In addition, the two components of the orbital phase error, i.e., the residual flat-earth phase error and the topographic phase error caused by orbital error, are separated and quantified based on the parameterized expression. These demonstrate that the proposed method can be used to accurately estimate and mitigate the orbital phase error in TanDEM-X bistatic InSAR data, which increases the feasibility of reconstructing high-resolution and high-precision DEM. The rigorous geometric constraint, the refinement of the initial baseline parameters, and the assessment for height errors based on the estimated BEs are investigated in the discussion section of this paper.

Joint Correction of Tropospheric and Orbital Errors in SAR Differential Interferograms

Synthetic Aperture Radar (SAR) satellite imagery is a source of data widely employed in the quantification and analysis of an earthquake coseismic displacement. However, due to the signal path along the atmosphere and to other sources, the interferometric phase becomes compromised. In this work, a methodology for the correction of tropospheric and orbital errors in the differential interferogram is presented. This methodology was applied to a couple of Sentinel-1A data. The phenomenon studied was the 11th November 2018 Zeribet el Oued earthquake, Mw. 5.2 (The state of Biskra, South East of Algeria). It was possible to correct both tropospheric and orbital errors, where the dominant one was the tropospheric delay, a displacement error of 4 cm was added to the differential interferogram by this noise source. The correction of orbital error led to a better interpretation of the coseismic displacement.

Atom-orbital qubit under nonadiabatic holonomic quantum control

Quantum computing has been attracting tremendous efforts in recent years. One prominent application is to perform programmable quantum simulations of electron correlations in large molecules and solid-state materials, where orbital degrees of freedom are crucial to quantitatively model electronic properties. Electron orbitals unlike quantum spins obey crystal symmetries, making the atomic orbital in optical lattices a natural candidate to emulate electron orbitals. Here, we construct an atom-orbital qubit by manipulating $s$ and $d$ orbitals of atomic Bose-Einstein condensation in an optical lattice. Noise-resilient single-qubit gates are achieved by performing holonomic quantum control, which allows geometrical protection. We find it is critical to eliminate the orbital leakage error in the system. Our work opens up wide opportunities for atom-orbital-based quantum information processing, of vital importance to programmable quantum simulations of multiorbital physics in molecules and quantum materials.

On vectorial integer bootstrapping implementations in the estimation of satellite orbits and clocks based on small global networks

The estimation of satellite orbits and clocks plays a central role in different Global Navigation Satellite System (GNSS) domains, e.g. precise positioning or time transfer. Such products can be computed in the process of Orbit Determination and Time Synchronization (ODTS), which relies on a network of ground-based stations, well distributed around the globe. The mm-level precision of carrier-phase measurements is exploited in this network estimation following a correct resolution of their ambiguities. For several stations, satellites and/or signals, thousands of ambiguities have to be processed, which means having to deal with high-dimensional ambiguity resolution (HDAR) problems. In this research work, we firstly account for the impact of ambiguity resolution in a varying network size, based on GPS-only, Galileo-only and GPS+Galileo configurations. Using 25 or more stations, the accuracy (1D RMS orbital errors) of fixed solutions reaches a plateau at 1–2 cm. Hence, we focus on a small global network of 14 stations, where the model strength decreases, so does the reliability of the ambiguity fixing process and advantages over a float solution might become less evident. In order to allow reliable HDAR, two implementations of the Vectorial Integer Bootstrapping estimator are presented and evaluated with respect to their scalar counterpart. Finally, it is shown how the proposed fixing processes are more robust, still very efficient, and on certain days they provide a large improvement to satellite products. The orbital results are ultimately validated by considering the satellite midnight discontinuity errors over a 3-month period in 2019.

Improve real-time GNSS orbit with epoch-independent undifferenced ambiguity resolution

AR (Ambiguity Resolution) is one of the critical issues in high-accuracy GNSS (Global Navigation Satellite System) applications. Commonly, the double-difference AR technique is employed in GNSS network data processing. With the demand of high-accuracy, low-latency and high-integrity GNSS orbit, the orbit estimation in sequential mode becomes a candidate of that in batch mode. Unlike orbit estimation with double-difference AR in either batch or sequential mode, researches on real-time orbit estimation with undifferenced AR in sequential mode is still limited. In this study, real-time orbit determination with epoch-independent undifferenced AR in sequential mode is assessed. With one-week observation data from about 100 global distributed IGS (International GNSS Service) network stations, simulated real-time Galileo orbit determination are conducted with GFZ post-processed solution as reference for validation. Numerical results indicate that, first, the 3D error RMS (Root Mean Square) of fixed orbit is about 30% smaller than that of float orbit; second, the Galileo orbit error RMS reach 3.66, 3.60 and 3.09 cm for the radial, tangential and normal directions respectively for the fixed solution; third, small jumps exist in the real-time orbit and may be attributed to the temporal variations of UPD (Uncalibrated Phase Delay) and wrongly fixed ambiguities. In summary, the orbit quality is comparable to that of IGS real-time solutions, and further improvements may be achieved with improved AR constraint strategy and background orbit model.