Precise Point Positioning Technique Research Articles

A New Precise Point Positioning with Ambiguity Resolution (PPP-AR) Approach for Ground Control Point Positioning for Photogrammetric Generation with Unmanned Aerial Vehicles

Unmanned aerial vehicles (UAVs) are now widely preferred systems that are capable of rapid mapping and generating topographic models with relatively high positional accuracy. Since the integrated GNSS receivers of UAVs do not allow for sufficiently accurate outcomes either horizontally or vertically, a conventional method is to use ground control points (GCPs) to perform bundle block adjustment (BBA) of the outcomes. Since the number of GCPs to be installed limits the process in UAV operations, there is an important research question whether the precise point positioning (PPP) method can be an alternative when the real-time kinematic (RTK), network RTK, and post-process kinematic (PPK) techniques cannot be used to measure GCPs. This study introduces a novel approach using precise point positioning with ambiguity resolution (PPP-AR) for ground control point (GCP) positioning in UAV photogrammetry. For this purpose, the results are evaluated by comparing the horizontal and vertical coordinates obtained from the 24 h GNSS sessions of six calibration pillars in the field and the horizontal length differences obtained by electronic distance measurement (EDM). Bartlett’s test is applied to statistically determine the accuracy of the results. The results indicate that the coordinates obtained from a two-hour PPP-AR session show no significant difference from those acquired in a 30 min session, demonstrating PPP-AR to be a viable alternative for GCP positioning. Therefore, the PPP technique can be used for the BBA of GCPs to be established for UAVs in large-scale map generation. However, the number of GCPs to be selected should be four or more, which should be homogeneously distributed over the study area.

The Real-Time Detection of Vertical Displacements by Low-Cost GNSS Receivers Using Precise Point Positioning.

Vertical displacements are traditionally measured with precise levelling, which is inherently time consuming. Rapid or even real-time height determination can be achieved by the Global Navigation Satellite System (GNSS). Nevertheless, the accuracy of real-time GNSS positioning is limited, and the deployment of a network of continuously operating GNSS receivers is not cost effective unless low-cost GNSS receivers are considered. In this study, we examined the use of geodetic-grade and low-cost GNSS receivers for static and real-time GNSS levelling, respectively. The results of static GNSS levelling were processed in four different software programs or services. The largest differences for ellipsoidal/normal heights reached 0.054 m/0.055 m, 0.046 m/0.047 m, and 0.058 m/0.058 m for points WRO1, BM_ROOF, and BM_CP, respectively. In addition, the values depended on the software used and the location of the point. However, the multistage experiment was designed to analyze various strategies for GNSS data processing and to define a method for detecting vertical displacement in a time series of receiver coordinates. The developed method combined time differentiation of coordinates estimated for a single GNSS receiver using the Precise Point Positioning (PPP) technique and Butterworth filtering. It demonstrated the capability of real-time detection of six out of eight displacements in the range between 20 and 55 mm at the three-sigma level. The study showed the potential of low-cost GNSS receivers for real-time displacement detection, thereby suggesting their applicability to structural health monitoring, positioning, or early warning systems.

Gdcov2sinex: a Python conversion tool from GipsyX’s gdcov file to SINEX file

The Solution INdependent EXchange (SINEX) file format, an international standard for the exchange of information, is essential in the Global Navigation Satellite System (GNSS) processing strategies that integrate different software applications. GNSS data processing using Jet Propulsion Laboratory’s (JPL) GipsyX software, which employs the Precise Point Positioning (PPP) technique, generates positions and covariance matrices in gdcov files, a GipsyX file format specific for storing this information. GipsyX software provides a tool, named mkDailySinex.py, to convert from gdcov file to SINEX file, but it is designed specifically for creating daily JPL SINEX files and does not function properly for non-JPL GipsyX users. I have developed a Python 3 program, named gdcov2sinex.py, which solves this problem, enabling any user to perform the SINEX conversion and, therefore, apply the processing strategies that integrate GipsyX with other software, such as GAMIT/GLOBK. The new python tool presented herein takes advantage of the capabilities of mkDailySinex.py and provides all its default options, but also expands the number of selectable options, which can be useful to the user. The source code, user manual, and a sample dataset of gdcov2sinex.py are provided as electronic supplementary material of this paper.

Low-latitude ionospheric responses and positioning performance of ground GNSS associated with the geomagnetic storm on March 13–14, 2022

Interplanetary coronal mass ejections (ICMEs) and the driven geomagnetic storms have a profound influence on the ionosphere, potentially leading to a degradation in positioning performance. In this study, we made a comprehensive analysis of the entire process of the impact of a typical ICME and its driven geomagnetic storm on the low-latitude ionosphere during March 13–14, 2022 (π-day storm) and the positioning performance of Global Navigation Satellite System (GNSS). During the passage of the ICME event, significant ionospheric scintillation, and TEC (total electron content) disturbances were observed in the low-latitude Hong Kong region. The ICME sheath region intensively compressed the magnetosphere via solar wind dynamic pressure enhancement and subsequently drove the storm main phase. It is found that both the magnetospheric compression that formed the storm initial phase and the storm main phase caused ionospheric scintillation. In comparison, the intensity of the ionospheric scintillation caused by the intense magnetospheric compression just before the storm main phase is even more pronounced. We also analyzed the impact of storms on standard point positioning (SPP), precise point positioning (PPP) and real-time kinematic (RTK) techniques. The positioning accuracies of single-frequency SPP and PPP experienced the most severe decline, and there was a noticeable increase in the initialization time for dual-frequency static PPP and RTK during the event. RTK demonstrated a shorter convergence time and higher accuracy during this event, but it was limited to short-baseline RTK (<30 km).

Intercontinental frequency ratio measurement of 171 Yb and 88 Sr optical lattice clocks

We report a remote, intercontinental frequency comparison between 171Yb (NMIJ) and 88Sr (UMK) optical lattice clocks. The frequencies were compared via the Global Positioning System Precise Point Positioning technique over the period from 10 March 2020, 00:00 UTC until 15 March 2020, 00:00 UTC. The comparison of the optical clocks yields results with a relative frequency uncertainty of 6.3×10−15 .

An approach to improve smartphone-based PPP performance in constrained environments using Doppler observations

ABSTRACT The smartphone-based precise point positioning (PPP) technique is usually used in limited satellite visibility environments, resulting in discontinuities in carrier phase observations. This study proposes an approach to improve the smartphone-based PPP performance by predicting the missed carrier phase observations with Doppler observations. Kinematic smartphone-based PPP experiments in the tree canopy and high-building environments are conducted, and results show that the proposed PPP approach improves the horizontal positioning accuracy by over 31% and 14% and vertical positioning accuracy by over 23% and 10% when compared to the PPP approaches without predictions and with linear predictions, respectively.

Enhancing Atmospheric Monitoring Capabilities: A Comparison of Low- and High-Cost GNSS Networks for Tropospheric Estimations

Global Navigation Satellite System (GNSS) signals experience delays when passing through the atmosphere due to the presence of free electrons in the ionosphere and air density in the non-ionized part of the atmosphere, known as the troposphere. The Precise Point Positioning (PPP) technique demonstrates highly accurate positioning along with Zenith Tropospheric Delay (ZTD) estimation. ZTD estimation is valuable for various applications including climate modelling and determining atmospheric water vapor. Current GNSS network resolutions are not completely sufficient for the scale of a few kilometres that regional climate and weather models are increasingly adopting. The Centipede-RTK network is a low-cost option for increasing the spatial resolution of tropospheric monitoring. This study is motivated by the question of whether low-cost GNSS networks can provide a viable alternative without compromising data quality or precision. This study compares the performance of the low-cost Centipede-RTK network in calculating the Zenith Tropospheric Delay (ZTD) to that of the existing EUREF Permanent Network (EPN), using two alternative software packages, RTKLIB demo5 version and CSRS-PPP version 3, to ensure robustness and software independence in the findings. This investigation indicated that the ZTD estimations from both networks are almost identical when processed by the CSRS-PPP software, with the highest mean difference being less than 3.5 cm, confirming that networks such as Centipede-RTK could be a reliable option for dense precise atmospheric monitoring. Furthermore, this study revealed that the Centipede-RTK network, when processed using CSRS-PPP, provides ZTD estimations that are very similar and consistent with the EUREF ZTD product values. These findings suggest that low-cost GNSS networks like Centipede-RTK are viable for enhancing network density, thus improving the spatial resolution of tropospheric monitoring and potentially enriching climate modelling and weather prediction capabilities, paving the way for broader application and research in GNSS meteorology.

A static precise single-point positioning method based on carrier phase zero-baseline self-differencing

Satellite navigation positioning has become an indispensable component of everyday life, where precise pinpointing and rapid convergence are crucial in delivering timely and accurate location information. However, due to the damping of integer ambiguities and system residual errors, the rapid convergence of Precise Point Positioning (PPP) implementation is a significant challenge. To address this, this paper proposes a novel Carrier Phase Zero-Baseline Self-Differencing Precise Point Positioning (CZS-PPP) technique and its ionosphere-free fusion model. By employing the proposed CZS-PPP approach in separate scenarios involving BDS-3, GPS, and dual-system settings, we systematically validate the efficacy of the method. The experimental results indicate that the convergence time of the method is less than 4 min in a single-system scenario. Furthermore, in a dual-system scenario, the method can achieve rapid convergence in less than 3 min. The CZS-PPP technique presented demonstrates the elimination of integer ambiguities and the effective suppression of system residuals, in comparison to the conventional method. The proposed approach has demonstrated remarkable performance across different systems, offering a promising new pathway for achieving PPP fast convergence in BDS/GNSS.

Determining the tectonic velocity of some continuously operating reference stations (CORS) in Vietnam 2019-2022 using precise point positioning method

We use precise point positioning (PPP) technique to process the Global Navigation Satellite Systems (GNSS) data of 10 continuously operating reference stations (CORS) in Vietnam during the period 2019-2022. PPP processing results show that the time series of the North, East and Up components of CORS fluctuate with a period of approximately 1 year. After modelling this variation using a sine function with a fixed period of 351.6 days, we calculate the mean displacement velocity of the CORSs according to the North, East and Up components as follows: (-9.2, +29.5, -4.6) mm/year. The general movement direction of all CORSs is East-Southeast. In which the North, East and Up components of 3 big cities Ha Noi, Da Nang and Ho Chi Minh city are (-9.1, +32.7, +1.0) mm/year, (-9.1, +30.5, -6.0) mm/year and (-7.9, +28.4, -1.9) mm/year, respectively. Compared with the period 2016-2018, the velocities of the tectonic plate change less than 4 mm/year in the horizontal component, and 8 mm/year in the Up component. We have processed three more International GNSS Service (IGS) stations in Thailand (CUSV) and China (HKSL and KMNM) for testing. Our results are consistent with JPL at 1 mm/year in the horizontal and 2 mm/year in the Up component.

EVALUATION OF THE PERFORMANCE OF MULTI-GNSS ADVANCED ORBIT AND CLOCK AUGMENTATION – PRECISE POINT POSITIONING (MADOCA-PPP) IN JAPAN REGION

For users of Precise Point Positioning (PPP), Multi-GNSS Advanced Orbit and Clock Augmentation PPP signals provide corrective data. When using the PPP approach and/or PPP-Ambiguity Resolution (AR) method, the QZSS signal provides globally applicable error corrections on satellite orbit, clock offset, and code/phase biases. In addition, from FY2024, as a part of the MADOCA-PPP technology demonstration, wide-area ionospheric correction data will be provided for the Asia-Oceania region. A software estimator of precise satellite information developed by JAXA, Multi-GNSS Advanced Demonstration Tool for Orbit and Clock Analysis (MADOCA), allows u-blox CO99-ZED-F9P and MSJ 3008-GM4-QZS utilizing MADOCA-PPP to be used in GNSS applications that need sub-decimetre precision but don’t have to be expensive. Errors caused by positioning satellites are computed by using observation data from domestic and overseas GNSS monitoring station networks such as IGS and MIRAI, and obtained correction data is transmitted from QZSS signal to provide highly precise positioning augmentation services that can be used in the Asia-Oceania Region. Users may utilize the PPP technique for high-precision locating by employing a GNSS receiver that supports the QZSS signals. This paper describes an experiment carried out with the static method to combine GPS, GLONASS, and QZSS signals in the project site (ISHI, USUD and MIZU stations in Japan). This paper examines the GPS/GLONASS/QZSS obtainable accuracy. These obtained results indicate that integrating GPS system with GLONASS and QZSS is favoured for surveying applications. It appears that integrating GPS/GLONASS/QZSS (MADOCA precise ephemeris file) static measurements in the study area between 0–4 millimetres accuracy can be guaranteed on all occasions.

An evaluation of the positioning ability of the real-time ionosphere-free single-frequency precise point positioning technique in the Arctic and Antarctic polar regions under different ionospheric scintillations

This contribution presents an evaluation of the positioning ability of the real-time (RT) ionosphere-free (IF) single-frequency precise point positioning (SF-PPP) technique in Arctic and Antarctic under different auroral activities. Firstly, Global Positioning System (GPS)-only observations obtained from International GNSS Service (IGS) stations in the Arctic were evaluated with RT IF SF-PPP under all possible auroral activities. Then, a series of kinematic experiments were conducted using a zodiac boat on Livingston Island, located on the Antarctic Peninsula, under different auroral activities. Observations from the kinematic experiments were also evaluated using the RT IF SF-PPP. The outcomes indicate that the IF SF-PPP approach is not affected by ionospheric activities. Furthermore, the results reveal that the RT IF SF-PPP provides dm- and m-level positioning accuracy for horizontal and vertical components, respectively. The findings demonstrate that the RT IF SF-PPP technique can be reliably employed in real-time navigation applications in the Arctic and Antarctic.

Assessing seismic displacements and early warning using kinematic PPP with MADOCA real-time products: A case study of 2023 Kahramanmaraş (Türkiye) earthquakes

Early warning and emergency hazard response studies in large earthquakes require rapid and reliable determination of earthquake magnitude. The magnitude of an earthquake can be estimated based on peak ground displacement (PGD) values captured from high-rate GNSS records. In this study, two major earthquakes that hit Kahramanmaraş Province on February 6, 2023, were investigated by using the real-time Global Navigation Satellite System (GNSS) Precise Point Positioning (PPP) technique to confirm the usability of GNSS in early warning. Data from high-rate (1-Hz) GNSS stations were evaluated with the real-time kinematic PPP approach utilizing the multi-GNSS advanced demonstration tool for orbit and clock analysis (MADOCA) products and JPL's GipsyX software. In addition, static PPP was also used to identify the permanent displacements caused by earthquakes. Static PPP results demonstrated that significant displacements were detected at stations close to the epicenters, particularly the 446.86 cm horizontal displacement in the EKZ1 station. Considering the kinematic PPP results revealed that when PGD values calculated from seismic waves, functional model, and updated coefficients were implemented, the moment magnitude of the Pazarcık earthquake was estimated as Mw 7.78, which was reported as Mw 7.8 by USGS and Mw 7.7 by AFAD, whilst the magnitude of the Elbistan earthquake was computed as Mw 7.56, which was reported as Mw 7.5 by USGS and 7.6 by AFAD. Overall, this study validates the effectiveness of the real-time GNSS PPP as an attractive alternative for analyzing coseismic events and supporting early warning.

SEAMLESS PRECISE KINEMATIC POSITIONING IN THE HIGH-LATITUDE ENVIRONMENTS: CASE STUDY IN THE ANTARCTIC REGION

Scientific activities in the Antarctic regions have increased daily within the last decades to achieve many different projects. The ice sheet over 98% of the Antarctic continent, the coldest, driest, and windiest place in the world and has the largest desert, makes it very difficult to conduct any kind of study and research. Among them, precise hydrographic surveying should be conducted for many different applications that require reliable and accurate positioning. The output from these surveys plays a vital role in understanding sea level changes, global warming, sea ice movement, navigation and many others. The harsh atmospheric and topographic conditions of the region pose additional challenges to surveyors in the use of conventional terrestrial measurement techniques and satellite-based positioning methods (GNSS) to make positioning. Low quality and noisy GNSS observations with low satellite elevations made their positioning vulnerable to cycle slip, multipath, and discontinuity in Antarctica. This study analyses the performance of the post-processed kinematic Precise Point Positioning (PPP) based on the web-based online GNSS processing service for marine surveying in the high-latitude environment. Within this frame, two realistic experiments were carried out on a ship and zodiac boat during the 6th Turkish Antarctic Expedition (TAE). The results show that the PPP coordinates using an online GNSS processing service provide kinematic positioning with centimetre level of accuracy using a single GNSS receiver. The general results showed that the PPP technique allows for much faster and accurate positioning in remote and high-latitude areas at a lower cost.

A Statistical Approach for the Integration of Multi-Temporal InSAR and GNSS-PPP Ground Deformation Measurements.

Determining and monitoring ground deformations is critical for hazard management studies, especially in megacities, and these studies might help prevent future disaster conditions and save many lives. In recent years, the Golden Horn, located in the southeast of the European part of Istanbul within a UNESCO-protected region, has experienced significant changes and regional deformations linked to rapid population growth, infrastructure work, and tramway construction. In this study, we used Interferometric Synthetic Aperture Radar (InSAR) and Global Navigation Satellite System (GNSS) techniques to investigate the ground deformations along the Golden Horn coastlines. The investigated periods are between 2015 and 2020 and 2017 and 2020 for InSAR and GNSS, respectively. For the InSAR analyses, we used sequences of multi-temporal synthetic aperture radar (SAR) images collected by the Sentinel-1 and ALOS-2 satellites. The ground displacement products (i.e., time series and velocity maps) were then cross-compared with those achievable using the Precise Point Positioning (PPP) technique for the GNSS solutions, which can provide precise positions with a single receiver. In the proposed analysis, we compared the ground displacement velocities obtained by both methods by computing the standard deviations of the difference between the relevant observations considering a weighted least square estimation procedure. Additionally, we identified five circle buffers with different radii ranging between 50 m and 250 m for selecting the most appropriate coherent points to conduct the cross-comparison analysis. Moreover, a vertical displacement rate map was produced. The comparison of the vertical ground velocities derived from PPP and InSAR demonstrates that the PPP technique is valuable. For the coherent stations, the vertical displacement rates vary between -4.86 mm/yr and -23.58 mm/yr and -9.50 and -27.77 mm/yr for InSAR and GNSS, respectively.

GEODETIC EVIDENCE FOR POST-SEISMIC DEFORMATIONS FOLLOWING THE 2014 NORTH AEGEAN MW 6.9 EARTHQUAKE

The 2014 North Aegean Sea earthquake was a strong (Mw 6.9) event that caused significant crustal deformations. In the present study we investigate the long-term impact of the earthquake on the kinematics of the North Aegean Trough (NAT). For this purpose, we analyzed GPS observations collected from May 2010 to April 2022 at five permanent GPS reference stations. Two of these stations are located close to the epicenter(s) on the Islands of Lemnos and Samothrace. We processed the data using the Precise Point Positioning (PPP) technique. The analysis of the obtained coordinate time-series revealed a post-seismic deformation (PSD) period lasting for more than two years leading to cumulative 2D post-seismic displacement of 22 mm and 27 mm for Samothrace and Lemnos, respectively. The magnitudes of these post-seismic slip vectors correspond to 23% and 49% of the co-seismic vectors at Samothrace and Lemnos, respectively. The long-term analysis showed that after the end of the PSD period the stations are characterized by stable velocities that are noticeably different compared to the velocities prior to the event. We observed a change in the velocity in the order of 2 mm/yr for both Samothrace and Lemnos. It is the first time that PSD and velocity changes have been reported for the 2014 North Aegean Sea earthquake shedding light on the characteristics and the impact of this important earthquake on the kinematics of NAT.

Estimation and Evaluation of Zenith Tropospheric Delay from Single and Multiple GNSS Observations

Multi-Global Navigation Satellite Systems (multi-GNSS) (including GPS, BDS, Galileo, and GLONASS) provide a significant opportunity for high-quality zenith tropospheric delay estimation and its applications in meteorology. However, the performance of zenith total delay (ZTD) retrieval from single- or multi-GNSS observations is not clear, particularly from the new, fully operating BDS-3. In this paper, zenith tropospheric delay is estimated using the single-, dual-, triple-, or four-GNSS Precise Point Positioning (PPP) technique from 55 Multi-GNSS Experiment (MGEX) stations over one year. The performance of GNSS ZTD estimation is evaluated using the International GNSS Service (IGS) standard tropospheric products, radiosonde, and the fifth-generation European Centre for Medium-Range Weather Forecasts (ECMWF) reanalysis (ERA5). The results show that the GPS-derived ZTD time series is more consistent and reliable than those derived from BDS-only, Galileo-only, and GLONASS-only solutions. The performance of the single-GNSS ZTD solution can be enhanced with better accuracy and stability by combining multi-GNSS observations. The accuracy of the ZTD from multi-GNSS observations is improved by 13.8%, 43.8%, 27.6%, and 22.9% with respect to IGS products for the single-system solution (GPS, BDS, Galileo, and GLONASS), respectively. The ZTD from multi-GNSS observations presents higher accuracy and a significant improvement with respect to radiosonde and ERA5 data when compared to the single-system solution.

Stability analysis of reference station and compensation for monitoring stations in GNSS landslide monitoring

The Real-Time Kinematic (RTK) positioning method of the Global Navigation Satellite System (GNSS) has been widely used for landslide monitoring. The stability of its reference station is crucial to obtain accurate and reliable monitoring results. Unstable reference stations due to the geological environment and human activities are difficult to detect and in practical applications often ignored. As a result, it affects the positioning solutions and subsequently the interpretation and detection of landslide motions, which must be addressed in GNSS landslide monitoring. To solve this problem, we propose using the Precise Point Positioning (PPP) technique to analyze the stability of the reference station by verifying its position. The deformations of the monitoring stations are then compensated. First, the reference station coordinates are obtained by the PPP technique and tectonic motion is considered in data processing. The change or breakout of the reference station position is then determined using a cumulative sum control chart method. Finally, each monitoring station’s displacements are compensated according to the displacements of the reference station. According to the results of the Tengqing landslide experiment, the PPP technique can be used in GNSS landslide monitoring to analyze the stability of reference stations. With PPP, millimeter-level accuracy for the coordinates of reference stations is achieved. Compared to the traditional deformation series, the compensated displacement series more reliably reflects the landslide motions. This study will increase the reliability of monitoring results and contribute to implementing GNSS in monitoring landslides.

Galileo high accuracy service performance and anomaly mitigation capabilities

Precise point positioning (PPP) and real-time kinematic techniques are interesting in several sectors, especially for autonomous applications. These users have high accuracy needs coupled with stringent requirements on continuity, availability, integrity, and convergence time, whose satisfaction can be challenging in harsh environments. Galileo launched on January 2023 the initial high accuracy service (HAS), a European free-of-charge PPP service with a worldwide coverage transmitted on E6 signals and provided through an internet connection. This paper characterizes the Galileo HAS product performance, including orbital errors, clock errors, code biases, and overall signal in space error (SISE), with live signals transmitted since HAS service declaration. The paper also presents the behavior of HAS SIS in the case of four satellite anomalies between September 2021 and August 2022, occurring for Galileo and GPS. Finally, the paper presents the results of HAS performance in both static open sky and road scenarios, showing a few-decimeter accuracy even in environments with degraded visibility. The paper shows the improvements in terms of robustness to satellite anomaly thanks to the Galileo HAS characteristics.

A Rapid-Convergence Precise Point Positioning Approach Using Double Augmentations of Low Earth Orbit Satellite and Atmospheric Information

The precise point positioning (PPP) technique generally takes tens of minutes to converge, severely limiting its use. This longer convergence time is mainly due to the slower variation of satellite geometry in space and the stronger correlation of unknown parameters to be estimated. Fortunately, the lower orbit altitude of Low Earth Orbit (LEO) satellites contributes to the fast variation of the satellites’ spatial geometry. In addition, high-precision atmospheric delay information has become readily available, which can help decrease unknown parameters’ correlation. This study proposes a double-augmentation PPP approach with accelerated convergence by tightly integrating the LEO/atmosphere-augmented information. The GNSS observations in both mid-latitude and low-latitude areas, and simulated LEO observations under a Walker/polar mixed constellation, are used to validate the double-augmentation PPP approach. Test results in both areas indicate that the double-augmentation PPP can converge within 0.8 min, improving the convergence time by over 73%, and over 83% compared to the LEO-only augmented PPP and atmosphere-only augmented PPP.

Impact of using type mean vs. individual receiver antenna PCC in multi-GNSS PPP

In the paper, the differences between position components obtained using the precise point positioning (PPP) technique with individual and type mean PCC models were investigated. Daily GNSS observations from ten selected European Permanent Network (EPN) stations were used in the study. Eight different combinations of GPS, Galileo, BeiDou and GLONASS systems observations were proposed for analyses. The observation processing was done using the open-source software package GAMP. The results show that differences in the calibration models propagate to the position domain. Position offsets, resulting from the use of individual calibrations instead of the type mean, reach up to 10 mm in the vertical component while are generally keeping below 2 mm in the horizontal ones. The analysis also shows that adapting GPS PCCs to other GNSS (e.g. Galileo or BeiDou) signals does not significantly increase achieved position component differences.