Article Figures & Data
Figures
- FIGURE 1
Daily average number of visible GPS, GLONASS, Galileo and BeiDou-2/3 satellites.
- FIGURE 2
Effect of the number of satellites, constellations, and frequencies on the redundancy/degrees of freedom of the PPP model.
- FIGURE 3
Map of the stations used processing
- FIGURE 4
Kp and f10.7 indices for the processing period in November 2021
- FIGURE 5
Time series of the average horizontal and vertical errors at the 100th, 95th, and 67th percentiles for the dual-frequency, dual- and triple-frequency and all-frequency fixed and dual-frequency float solutions. The figure focuses on the first 20 minutes of processing and on the decimeter-level errors. The X-th percentile was computed for each epoch as the average of the X% datasets with the lowest error, with X ∈ 1100,95,671.
- FIGURE 6
Average 100th, 95th, and 67th percentile (a) convergence times to 10 cm horizontal error, (b) horizontal RMS, and (c) vertical RMS for the dual, dual and triple, and all-frequency solutions with or without AR. These statistics correspond to the time series shown in Figure 5.
- FIGURE 7
95th percentile average convergence times to 10 cm per station. Each bar was generated by 1) computing the convergence times of all datasets, 2) identifying the 95% smallest convergence times, and 3) computing the mean of these smallest convergence times.
- FIGURE 8
The 67th percentile average convergence times to 2.5 cm per station. Each bar was generated by 1) computing the convergence times of all datasets, 2) identifying the 67% shortest convergence times, and 3) computing the mean of these smallest convergence times.
- FIGURE 9
(a) The 100th and (b) 67th percentile distributions of the epoch-by-epoch horizontal errors using all datasets. Each bin corresponds to 5 cm. The ith percentile distribution, with i ∈ {100,67}, means that the i% epochs with the lowest horizontal errors are plotted.
- FIGURE 10
The percentage of epochs with horizontal errors below 2.5 cm per station in the epoch-by-epoch solutions at the (a) 100th and (b) 67th percentiles. Each bar represents the percentage of epochs at each station with horizontal errors below 2.5 cm during one week. At the 67th percentile, each bar is based on the 67% epochs with the lowest horizontal errors. The horizontal dashed lines represent the average across all stations.
- FIGURE 11
Time series of the multi-constellation all-frequency ambiguity-fixed epoch-by-epoch solutions of one highly-performing station (ARTH00ATA), one average-performing station (GOPE00CZE), and one poorly-performing station (BOGT00COL) on day 305 of year 2021 between 6 AM and 9 AM UTC. The table shows the percentage of epochs (based on all epochs over three hours) with errors that are below 10 cm and 2.5 cm.
Tables
- TABLE 1
Number of Satellites with One, Two, Three, and Four Frequencies for Each Constellation (List of Positioning Satellites | Technical Information | QZSS (Quasi-Zenith Satellite System) - Cabinet Office (Japan), 2022).
Freq. 1 Freq. 2 Freq. 3 Freq. 4 GPS 31 24 17 GLONASS 22 22 2 Galileo 25 25 25 25 BeiDou-2 15 15 15 BeiDou-3 29 29 27 27 Parameter Strategy Receiver coordinates Estimated with process noise equivalent to 100 km/h Receiver reference coordinates IGS SINEX positions 
and Estimated as white noise processes δt12, δt13 δt14, IFBr,3, and IFBr,4 Estimated as white noise processes Tropospheric delay Dry: GMF model and mapping function (Kouba, 2009). Wet: estimated as a random walk process with process noise of 0.05 Ionospheric delays Estimated as white noise processes Ambiguities Estimated as constants on each continuous arc Elevation angle cut-off 7° Weighting strategy Elevation dependent weighting: with σ90 equal to 0.1 m and 0.001 m for the pseudorange and carrier-phase measurements, respectively, and el being the elevation angle. a and b are determined based on a residual and measurement quality analysis and set to 0.15 and 0.85, respectively.
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