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Evaluation of PPP-RTK based on BDS-3/BDS-2/GPS observations: a case study in Europe

机译：基于BDS-3 / BDS-2 / GPS观测的PPP-RTK评估：欧洲的案例研究

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The Chinese BeiDou Navigation Satellite System (BDS) transited from regional (Asia-Pacific) to global on December 28, 2018. In this study, the performance of PPP-RTK based on BDS-3/BDS-2/GPS observations is analyzed by utilizing the observations in Europe during a calm ionospheric disturbance period with Kp-index ranging from 0o to 2-. Satellite clock offsets are first estimated and then fixed to determine the uncalibrated phase delays (UPDs) and the ionospheric/tropospheric information from the reference network. Real-time PPP and PPP AR based on raw observations are estimated at the user, in which atmospheric constraints are imported as virtual observations if available. Analysis results based on 3 days of observations reveal that centimeter-level positioning accuracy can be achieved based on GPS, BDS, or GPS + BDS observations, and the performance can be further improved by realizing PPP AR. The satellite-differenced ionospheric and tropospheric information can be predicted for the users with an accuracy of 24.6 mm and 5.6 mm, respectively. Augmented by the predicted atmospheric information, PPP-RTK can be realized based on GPS- or BDS-only observations, and the average number of epochs required for ambiguity fixing is 1.5 and 1.6, respectively. The RMS values of the positioning errors of the north, east, and up components based on GPS-only observations are 8.0, 4.7, and 19.7 mm, while 9.8, 7.3, 29.7 mm, respectively, based on BDS-only observations. Utilizing GPS and BDS observations together, the average number of epochs required decreases to 1.2, and the positioning errors become 5.6, 3.5, and 23.3 mm for the north, east, and up components, respectively. All these results suggest that BDS can provide high-accuracy positioning services independently for users in Europe. Although a small decrease in the positioning accuracy of the up component, which might be attributed to inappropriate weighting strategy between satellite systems and requires further researches in the future, the additional BDS observations can improve the performance in the time to the first fixed solution and the positioning accuracies with respect to GPS-only positioning. The performance of PPP-RTK based on BDS-3/BDS-2/GPS observations during medium and high ionospheric disturbance periods will also be estimated in the future to fully evaluate the effects of additional BDS-3 observations in high-accuracy GNSS applications.
机译：中国北斗导航系统（BDS）从地区（亚太地区）转移到全球2018年12月28日。在本研究中，分析了基于BDS-3 / BDS-2 / GPS观测的PPP-RTK的性能利用欧洲的观察，在平静的电离层扰动期间，KP指数从0O到2-。首先估计卫星时钟偏移，然后固定以确定来自参考网络的未校准相位延迟（UPDS）和电离层/对流层信息。基于原始观察的实时PPP和PPP AR在用户估计，其中大气约束是可用的虚拟观察的。基于3天的观察结果揭示了基于GPS，BDS或GPS + BDS观察可以实现厘米级定位精度，并且通过实现PPP AR可以进一步提高性能。卫星差异的电离层和对流层信息可以预测分别为24.6 mm和5.6毫米的精确度。由预测的大气信息增强，可以基于GPS或BDS的观察结果来实现PPP-RTK，并且分别为歧义固定所需的时期的平均数量为1.5和1.6。基于GPS的观测的北部，东部和上升组件的定位误差的RMS值分别为8.0,4.7和19.7 mm，而基于仅限BDS的观察分别为9.8,7.3,29.7 mm。利用GPS和BDS观察将所需的EPOCH的平均数量降低至1.2，分别为北部，东部和UP组件的定位误差为5.6,3.5和23.3mm。所有这些结果表明，BDS可以为欧洲用户提供高精度定位服务。虽然UP组件的定位精度小幅下降，但是可能归因于卫星系统之间的不适当的加权策略，并且未来需要进一步研究，额外的BDS观察可以提高第一个固定解决方案的时间定位用于仅GPS定位的精度。未来还将估计基于BDS-3 / BDS-2 / GPS观测的PPP-RTK的性能，将来将在未来估计在高精度GNSS应用中完全评估额外的BDS-3观察的影响。

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