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| 1 | Basic performance and future developments of BeiDou global navigation satellite system显示文摘The core performance elements of global navigation satellite system include availability,continuity,integrity and accuracy,all of which are particularly important for the developing BeiDou global navigation satellite system(BDS-3).This paper describes the basic performance of BDS-3 and suggests some methods to improve the positioning,navigation and timing(PNT)service.The precision of the BDS-3 post-processing orbit can reach centimeter level,the average satellite clock offset uncertainty of 18 medium circular orbit satellites is 1.55 ns and the average signal-in-space ranging error is approximately 0.474 m.The future possible improvements for the BeiDou navigation system are also discussed.It is suggested to increase the orbital inclination of the inclined geostationary orbit(IGSO)satellites to improve the PNT service in the Arctic region.The IGSO satellite can perform part of the geostationary orbit(GEO)satellite’s functions to solve the southern occlusion problem of the GEO satellite service in the northern hemisphere(namely the“south wall effect”).The space-borne inertial navigation system could be used to realize continuous orbit determination during satellite maneuver.In addition,high-accuracy space-borne hydrogen clock or cesium clock can be used to maintain the time system in the autonomous navigation mode,and stability of spatial datum.Furthermore,the ionospheric delay correction model of BDS-3 for all signals should be unified to avoid user confusion and improve positioning accuracy.Finally,to overcome the vulnerability of satellite navigation system,the comprehensive and resilient PNT infrastructures are proposed for the future seamless PNT services. | Yuanxi Yang Yue Mao Bijiao Sun | 2020 | Satellite Navigation2020，1，1： | 70 |
| 2 | Inertial sensors technologies for navigation applications:state of the art and future trends显示文摘Inertial navigation represents a unique method of navigation,in which there is no dependency on external sources of information.As opposed to other position fixing navigation techniques,inertial navigation performs the navigation in a relative sense with respect to the initial navigation state of the moving platform.Hence,inertial navigation systems are not prone to jamming,or spoofing.Inertial navigation systems have developed vastly,from their occurrence in the 1940s up to date.The accuracy of the inertial sensors has improved over time,making inertial sensors sufficient in terms of size,weight,cost,and accuracy for navigation and guidance applications.Within the past few years,inertial sensors have developed from being purely mechanical into incorporating various technologies and taking advantage of numerous physical phenomena,from which the dynamic forces exerted on a moving body could be computed accurately.Besides,the evolution of inertial navigation scheme involved the evolution from stable-platform inertial navigation system,which were mechanically complicated,to computationally demanding strap-down inertial navigation systems.Optical sensory technologies have provided highly accurate inertial sensors,at smaller sizes.Besides,the vibratory inertial navigation technologies enabled the production of Micro-electro-machined inertial sensors that are extremely low-cost,and offer extremely low size,weight and power consumption,making them suitable for a wide range of day-to-day navigation applications.Recently,advanced inertial sensor technologies have been introduced to the industry such as nuclear magnetic resonance technology,coldatom technology,and the reintroduction of fluid-based inertial sensors.On another note,inertial sensor errors constitute a huge research aspect in which it is intended for inertial sensors to reach level in which they could operate for substantially long operation times in the absence of updates from aiding sensors,which would be a huge leap.Inertial sensors error modeling techniques have been developing rapidly trying to ensure higher levels of navigation accuracy using lower-cost inertial sensors.In this review,the inertial sensor technologies are covered extensively,along the future trends in the inertial sensors’technologies.Besides,this review covers a brief overview on the inertial error modeling techniques used to enhance the performance of low-cost sensors. | Naser El-Sheimy Ahmed Youssef | 2020 | Satellite Navigation2020，1，1： | 11 |
| 3 | Semi-tightly coupled integration of multi-GNSS PPP and S-VINS for precise positioning in GNSS-challenged environments显示文摘Because of its high-precision,low-cost and easy-operation,Precise Point Positioning(PPP)becomes a potential and attractive positioning technique that can be applied to self-driving cars and drones.However,the reliability and availability of PPP will be significantly degraded in the extremely difficult conditions where Global Navigation Satellite System(GNSS)signals are blocked frequently.Inertial Navigation System(INS)has been integrated with GNSS to ameliorate such situations in the last decades.Recently,the Visual-Inertial Navigation Systems(VINS)with favorable complementary characteristics is demonstrated to realize a more stable and accurate local position estimation than the INS-only.Nevertheless,the system still must rely on the global positions to eliminate the accumulated errors.In this contribution,we present a semi-tight coupling framework of multi-GNSS PPP and Stereo VINS(S-VINS),which achieves the bidirectional location transfer and sharing in two separate navigation systems.In our approach,the local positions,produced by S-VINS are integrated with multi-GNSS PPP through a graph-optimization based method.Furthermore,the accurate forecast positions with S-VINS are fed back to assist PPP in GNSS-challenged environments.The statistical analysis of a GNSS outage simulation test shows that the S-VINS mode can effectively suppress the degradation of positioning accuracy compared with the INS-only mode.We also carried out a vehicle-borne experiment collecting multi-sensor data in a GNSS-challenged environment.For the complex driving environment,the PPP positioning capability is significantly improved with the aiding of S-VINS.The 3D positioning accuracy is improved by 49.0%for Global Positioning System(GPS),40.3%for GPS+GLOANSS(Global Navigation Satellite System),45.6%for GPS+BDS(BeiDou navigation satellite System),and 51.2%for GPS+GLONASS+BDS.On this basis,the solution with the semi-tight coupling scheme of multi-GNSS PPP/S-VINS achieves the improvements of 41.8-60.6%in 3D position-ing accuracy compared with the multi-GNSS PPP/INS solutions. | Xingxing Li Xuanbin Wang Jianchi Liao Xin Li Shengyu Li Hongbo Lyu | 2021 | Satellite Navigation2021，2，1： | 10 |
| 4 | Advances in BeiDou Navigation Satellite System(BDS)and satellite navigation augmentation technologies显示文摘Several noteworthy breakthroughs have been made with the BeiDou Navigation Satellite System(BDS)and other global navigation satellite systems as well as the associated augmentation systems,such as the commissioning of the BDS-3 preliminary system and the successful launch of the first BDS-3 GEO satellite which carries the satellite-based augmentation payload.Presently,BDS can provide basic services globally,and its augmentation system is also being tested.This paper gives an overview of BDS and satellite navigation augmentation technologies.This overview is divided into four parts,which include the system segment technologies,satellite segment technologies,propagation segment technologies,and user segment technologies.In each part,these technologies are described from the perspectives of preliminary information,research progress,and summary.Moreover,the significance and progress of the BeiDou Satellite-based Augmentation System(BDSBAS),low earth orbit augmentation,and the national BeiDou ground-based augmentation system are presented,along with the airborne-based augmentation system.Furthermore,the conclusions and discussions covering popular topics for research,frontiers in research and development,achievements,and suggestions are listed for future research. | Rui Li Shuaiyong Zheng Ershen Wang Jinping Chen Shaojun Feng Dun Wang Liwen Dai | 2020 | Satellite Navigation2020，1，1： | 9 |
| 5 | Conditioning and PPP processing of smartphone GNSS measurements in realistic environments显示文摘Smartphones typically compute position using duty-cycled Global Navigation Satellite System (GNSS) L1 code measurements and Single Point Positioning (SPP) processing with the aid of cellular and other measurements. This internal positioning solution has an accuracy of several tens to hundreds of meters in realistic environments (hand-held, vehicle dashboard, suburban, urban forested, etc.). With the advent of multi-constellation, dual-frequency GNSS chips in smartphones, along with the ability to extract raw code and carrier-phase measurements, it is possible to use Precise Point Positioning (PPP) to improve positioning without any additional equipment. This research analyses GNSS measurement quality parameters from a Xiaomi MI 8 dual-frequency smartphone in varied, realistic environments. In such environments, the system suffers from frequent phase loss-of-lock leading to data gaps. The smartphone measurements have low and irregular carrier-to-noise (C/N0) density ratio and high multipath, which leads to poor or no positioning solution. These problems are addressed by implementing a prediction technique for data gaps and a C/N0-based stochastic model for assigning realistic a priori weights to the observables in the PPP processing engine. Using these conditioning techniques, there is a 64% decrease in the horizontal positioning Root Mean Square (RMS) error and 100% positioning solution availability in sub-urban environments tested. The horizontal and 3D RMS were 20 cm and 30 cm respectively in a static open-sky environment and the horizontal RMS for the realistic kinematic scenario was 7 m with the phone on the dashboard of the car, using the SwiftNav Piksi Real-Time Kinematic (RTK) solu-tion as reference. The PPP solution, computed using the YorkU PPP engine, also had a 5-10% percentage point more availability than the RTK solution, computed using RTKLIB software, since missing measurements in the logged file cause epoch rejection and a non-continuous solution, a problem which is solved by prediction for the PPP solution. The internal unaided positioning solution of the phone obtained from the logged NMEA (The National Marine Elec-tronics Association) file was computed using point positioning with the aid of measurements from internal sensors. The PPP solution was 80% more accurate than the internal solution which had periodic drifts due to non-continuous computation of solution. | Ganga Shinghal Sunil Bisnath | 2021 | Satellite Navigation2021，2，1： | 7 |
| 6 | Functional model modification of precise point positioning considering the time-varying code biases of a receiver显示文摘Precise Point Positioning(PPP),initially developed for the analysis of the Global Positing System(GPS)data from a large geodetic network,gradually becomes an effective tool for positioning,timing,remote sensing of atmospheric water vapor,and monitoring of Earth’s ionospheric Total Electron Content(TEC).The previous studies implicitly assumed that the receiver code biases stay constant over time in formulating the functional model of PPP.In this contribution,it is shown this assumption is not always valid and can lead to the degradation of PPP performance,especially for Slant TEC(STEC)retrieval and timing.For this reason,the PPP functional model is modified by taking into account the time-varying receiver code biases of the two frequencies.It is different from the Modified Carrier-to-Code Leveling(MCCL)method which can only obtain the variations of Receiver Differential Code Biases(RDCBs),i.e.,the difference between the two frequencies’code biases.In the Modified PPP(MPPP)model,the temporal variations of the receiver code biases become estimable and their adverse impacts on PPP parameters,such as ambiguity parameters,receiver clock offsets,and ionospheric delays,are mitigated.This is confirmed by undertaking numerical tests based on the real dual-frequency GPS data from a set of global continuously operating reference stations.The results imply that the variations of receiver code biases exhibit a correlation with the ambient temperature.With the modified functional model,an improvement by 42%to 96%is achieved in the Differences of STEC(DSTEC)compared to the original PPP model with regard to the reference values of those derived from the Geometry-Free(GF)carrier phase observations.The medium and long term(1×10^(4) to 1.5×10^(4) s)frequency stability of receiver clocks are also signifi-cantly improved. | Baocheng Zhang Chuanbao Zhao Robert Odolinski Teng Liu | 2021 | Satellite Navigation2021，2，1： | 7 |
| 7 | Initial assessment of single-and dual-frequency BDS-3 RTK positioning显示文摘The BeiDou navigation satellite system with global coverage(BDS-3)has been fully operational since July 2020 and provides comprehensive services to global users.BDS-3 transmits several new navigational signals based on the signals inherited from the BeiDou navigation satellite(regional)system(BDS-2).Previous studies focused on the positioning performance of BDS-2 plus BDS-3 and that of combining BDS-3 and other Global Navigation Satellite Systems(GNSSs),but there was no in-depth discussion on the positioning performance of the BDS-3-only.In this contribution,the BDS-3-only Real-Time Kinematic(RTK)positioning is analysed using the data collected in zero and short baselines in Wuhan,China.The RTK model based on Single-Differenced is first presented,and the BDS-3-only RTK positioning in cases of single and dual-frequencies is evaluated with the model in terms of the empirical integer ambiguity resolution success rates and positioning accuracy.Our numerical tests suggest two major findings.First,the positioning performance for the B1I and B3I retained from BDS-2 and the new frequency B1C is comparable,while that for the new frequency B2a is poorer.Second,the positioning performance of the new frequency combination of the B1C+B2a is not as good as that of the B1C only,owing to the unrealistic stochastic model used. | Yunbin Yuan Xiaolong Mi Baocheng Zhang | 2020 | Satellite Navigation2020，1，1： | 7 |
| 8 | Initial analysis for characterizing and mitigating the pseudorange biases of BeiDou navigation satellite system显示文摘Pseudorange bias has become a practical obstacle in the field of high-precision global navigation satellite system(GNSS)applications,which greatly restricts the further development of high-precision applications.Unfortunately,no studies have been conducted on the pseudorange biases of the BeiDou navigation satellite system(BDS).To mitigate the effects of pseudorange biases on the BDS performance to the greatest extent possible,the origin of such BDS pseudorange biases are first thoroughly illustrated,based upon which the dependency of the biases on the receiver configurations are studied in detail.Owing to the limitations regarding the parameter re-settings for hardware receivers,software receiver technology was used to achieve the ergodicity of the receiver parameters,such as the correlator spacing and front-end bandwidth,using high-fidelity signal observations collected by a 40-m-high gain dish antenna at Haoping Observatory.Based on this,the pseudorange biases of the BDS B1I and B3I signals and their dependency on different correlator spacings and front-end bandwidths were adequately provided.Finally,herein,the suggested settings of the correlator spacing and front-end bandwidth for BDS receivers are in detail proposed for the first time.As a result,the pseudorange biases of the BDS signals will be less than 20 cm,reaching even under 10 cm,under this condition.This study will provide special attention to GNSS pseudorange biases,and will significantly promote a clear definition of the appropriate receiver parameter settings in the interface control documents of BDS and other individual satellite systems. | Chengyan He Xiaochun Lu Ji Guo Chengeng Su Wei Wang Meng Wang | 2020 | Satellite Navigation2020，1，1： | 7 |
| 9 | Global capabilities of BeiDou Navigation Satellite System显示文摘The BeiDou Navigation Satellite System (BDS) has completed the constellation deployment and started to provide global services. After achieving the capabilities of global coverage, global first-class accuracy for Positioning, Navigation and Timing (PNT), global Inter-Satellite Links (ISL) networking, and global featured services, BDS will promote the construction of the comprehensive PNT infrastructure in the new era and play a more active role in international cooperation with other Global Navigation Satellite System (GNSS) providers to better serve humankind and the world. | Jun Lu Xia Guo Chengeng Su | 2020 | Satellite Navigation2020，1，1： | 6 |
| 10 | Vulnerabilities and integrity of precise point positioning for intelligent transport systems:overview and analysis显示文摘The implementation of Intelligent Transport System (ITS) technology is expected to significantly improve road safety and traffic efficiency. One of the key components of ITS is precise vehicle positioning. Positioning with decimetre to sub-metre accuracy is a fundamental capability for self-driving, and other automated applications. Global Navigation Satellite System (GNSS) Precise Point Positioning (PPP) is an attractive positioning approach for ITS due to its relatively low-cost and flexibility. However, GNSS PPP is vulnerable to several effects, especially those caused by the challenging urban environments, where the ITS technology is most likely needed. To meet the high integrity requirements of ITS applications, it is necessary to carefully analyse potential faults and failures of PPP and to study relevant integrity monitoring methods. In this paper an overview of vulnerabilities of GNSS PPP is presented to identify the faults that need to be monitored when developing PPP integrity monitoring methods. These vulnerabilities are categorised into different groups according to their impact and error sources to assist integrity fault analysis, which is demonstrated with Failure Modes and Effects Analysis (FMEA) and Fault Tree Analysis (FTA) methods. The main vulnerabilities are discussed in detail, along with their causes, characteristics, impact on users, and related mitigation methods. In addition, research on integrity monitoring methods used for accounting for the threats and faults in PPP for ITS applications is briefly reviewed. Both system-level (network-end) and user-level (user-end) integrity monitoring approaches for PPP are briefly discussed, focusing on their development and the challenges in urban scenarios. Some open issues, on which further efforts should focus, are also identified. | Yujun Du Jinling Wang Chris Rizos Ahmed El-Mowafy | 2021 | Satellite Navigation2021，2，1： | 6 |
| 11 | Spatiotemporal characteristics of GNSS-derived precipitable water vapor during heavy rainfall events in Guilin,China显示文摘Precipitable Water Vapor(PWV),as an important indicator of atmospheric water vapor,can be derived from Global Navigation Satellite System(GNSS)observations with the advantages of high precision and all-weather capacity.GNSS-derived PWV with a high spatiotemporal resolution has become an important source of observations in mete-orology,particularly for severe weather conditions,for water vapor is not well sampled in the current meteorological observing systems.In this study,an empirical atmospheric weighted mean temperature(Tm)model for Guilin is estab-lished using the radiosonde data from 2012 to 2017.Then,the observations at 11 GNSS stations in Guilin are used to investigate the spatiotemporal features of GNSS-derived PWV under the heavy rainfalls from June to July 2017.The results show that the new Tm model in Guilin has better performance with the mean bias and Root Mean Square(RMS)of−0.51 and 2.12 K,respectively,compared with other widely used models.Moreover,the GNSS PWV estimates are validated with the data at Guilin radiosonde station.Good agreements are found between GNSS-derived PWV and radiosonde-derived PWV with the mean bias and RMS of−0.9 and 3.53 mm,respectively.Finally,an investigation on the spatiotemporal characteristics of GNSS PWV during heavy rainfalls in Guilin is performed.It is shown that variations of PWV retrieved from GNSS have a direct relationship with the in situ rainfall measurements,and the PWV increases sharply before the arrival of a heavy rainfall and decreases to a stable state after the cease of the rainfall.It also reveals the moisture variation in several regions of Guilin during a heavy rainfall,which is significant for the moni-toring of rainfalls and weather forecast. | Liangke Huang Zhixiang Mo Shaofeng Xie Lilong Liu Chuanli Kang Shitai Wang | 2021 | Satellite Navigation2021，2，1： | 6 |
| 12 | Analysis of Galileo signal-in-space range error and positioning performance during 2015-2018显示文摘A long-term analysis of signal-in-space range error (SISRE) is presented for all healthy Galileo satellites, and the first pair of full operational capability satellites in wrong elliptical orbits. Both orbit and clock errors for Galileo show an obvious convergence trend over time. The annual statistical analyses show that the average root mean squares (RMSs) of SISRE for the Galileo constellation are 0.58 m (2015), 0.29 m (2016), 0.23 m (2017), and 0.22 m (2018). Currently, the accuracy of the Galileo signal-in-space is superior to that of the global positioning system (GPS) Block IIF (0.35 m). In addition, the orbit error accounts for the majority of Galileo SISRE, while the clock error accounts for approximately one-third of SISRE due to the high stability of the onboard atomic clock. Single point positioning results show that Galileo achieves an accuracy of 2-3 m, which is comparable to that of GPS despite the smaller number of satellites and worse geometry. Interestingly, the vertical accuracy of Galileo, which uses the NeQuick ionospheric model, is higher than that of GPS. Positioning with single frequency E1 and E5 show a higher precision than E5a and E5b signals. Regarding precise point positioning (PPP), the results indicate that a comparable positioning accuracy can be achieved among different stations with the current Galileo constellation. For static PPP, the RMS values of Galileo-only solutions are within 1 cm horizontally, and the vertical RMSs are mostly within 2 cm horizontally. For kinematic PPP, the RMSs of Galileo-only solutions are mostly within 4 cm horizontally and 6 cm vertically. | Weiwang Wu Fei Guo Jiazhu Zheng | 2020 | Satellite Navigation2020，1，1： | 6 |
| 13 | Orbit determination and time synchronization for BDS-3 satellites with raw inter-satellite link ranging observations显示文摘To provide competitive global positioning and timing services under the condition that monitoring stations are confined to Chinese territory,inter-satellite link(ISL)technology is used by the third-generation BeiDou Navigation Satellite System(BDS-3).The ISL,together with the dual one-way links between satellites and anchor stations,may enable autonomous navigation for BDS-3.In this paper,we propose a general observation model for orbit determination(OD)and time synchronization(TS)directly using non-simultaneous observations,such as raw ISL pseudoranges.With the proposed model,satellite orbits,clocks,and hardware delay biases of ISL equipment can be determined simultaneously by jointly processing inter-satellite one-way pseudorange data and observation data from ground monitoring stations.Moreover,autonomous OD and TS are also achievable with one-way pseudorange data from anchor stations and satellites.Data from eight BDS-3 satellites,two anchor stations,and seven monitoring stations located in China were collected to validate the proposed method.It is shown that by jointly processing data from the ISL and seven monitoring stations,the RMS of overlap orbit differences in radial direction is 0.019 m,the overlap clock difference(95%)is 0.185 ns,and the stability of the estimated hardware delay biases for each satellite is greater than 0.5 ns.Compared with the results obtained with the seven stations,the improvements of orbits in radial direction and clocks are 95.7%and 90.5%,respectively.When the hardware delay biases are fixed to predetermined values,the accuracies of orbits and clocks are further improved.By jointly processing pseudoranges from the satellites and the two anchor stations,the RMS of overlap orbit differences is 0.017 m in the radial direction,and the overlap clock difference(95%)is 0.037 ns.It has also been demonstrated that under the condition of one-way ranging links,the accuracies of orbits and clocks obtained by the above two modes are still significantly better than those obtained by using the data from the monitoring stations alone. | Rengui Ruan Xiaolin Jia Laiping Feng Jun Zhu Zongbo Huyan Jie Li Ziqing Wei | 2020 | Satellite Navigation2020，1，1： | 5 |
| 14 | Principle and performance of BDSBAS and PPP-B2b of BDS-3显示文摘Within the framework of diferential augmentation,this paper introduces the basic technical framework and performance of the BeiDou Global Navigation Satellite System(BDS-3)Satellite-Based Augmentation System(BDSBAS),including orbit products,satellite clock ofset products,ionosphere and its integrity performance.The basic principle of BDS-3 Precise Point Positioning(PPP-B2b)is expounded,the similarities and diferences between the PPP service provided by BDS-3 and International Global Navigation Satellite System(GNSS)Service(IGS)are discussed,and the limitations of PPP-B2b are analyzed.Since both the BDSBAS and PPP-B2b utilize a ground monitoring station network to determine the satellite orbits and clock ofset corrections,and broadcast diferential corrections through the three Geostationary Orbit(GEO)satellites of BDS-3,the feasibility of the co-construction of BDSBAS and PPP-B2b is analyzed,strategies for the infrastructure sharing and correction broadcasting are presented,and the infuences of BDSBAS correction broadcasting strategy adjustment are evaluated.In addition,it assesses the possibility of broadcasting diferential corrections through the Inclined Geosynchronous Orbit(IGSO)satellites of BDS-3,and the feasibility of augmenting satellite navigation with Low Earth Orbit(LEO)satellites. | Yuanxi Yang Qun Ding Weiguang Gao Jinlong Li Yangyin Xu Bijiao Sun | 2022 | Satellite Navigation2022，3，1： | 5 |
| 15 | GNSS smartphones positioning: advances, challenges, opportunities, and future perspectives显示文摘Starting from 2016,the raw Global Navigation Satellite System(GNSS)measurements can be extracted from the Android Nougat(or later)operating systems.Since then,GNSS smartphone positioning has been given much attention.A high number of related publications indicates the importance of the research in this field,as it has been doing in recent years.Due to the cost-effectiveness of the GNSS smartphones,they can be employed in a wide variety of applications such as cadastral surveys,mapping surveying applications,vehicle and pedestrian navigation and etc.However,there are still some challenges regarding the noisy smartphone GNSS observations,the environment effect and smartphone holding modes and the algorithm development part which restrict the users to achieve high-precision smartphone positioning.In this review paper,we overview the research works carried out in this field with a focus on the following aspects:first,to provide a review of fundamental work on raw smartphone observations and quality assessment of GNSS observations from major smart devices including Google Pixel 4,Google Pixel 5,Xiaomi Mi 8 and Samsung Ultra S20 in terms of their signal strengths and carrier-phase continuities,second,to describe the current state of smartphone positioning research field until most recently in 2021 and,last,to summarize major challenges and opportunities in this filed.Finally,the paper is concluded with some remarks as well as future research perspectives. | Farzaneh Zangenehnejad Yang Gao | 2021 | Satellite Navigation2021，2，1： | 5 |
| 16 | Improved precise positioning with BDS-3 quad-frequency signals显示文摘The establishment of the BeiDou global navigation satellite system(BDS-3)has been completed,and the current constellation can independently provide positioning service globally.BDS-3 satellites provide quad-frequency signals,which can benefit the ambiguity resolution(AR)and high-precision positioning.This paper discusses the benefits of quad-frequency observations,including the precision gain of multi-frequency high-precision positioning and the sophisticated choice of extra-wide-lane(EWL)or wide-lane(WL)combinations for instantaneous EWL/WL AR.Additionally,the performance of EWL real-time kinematic(ERTK)positioning that only uses EWL/WL combinations is investigated.The results indicate that the horizontal positioning errors of ERTK positioning using ionosphere-free(IF)EWL observations are approximately 0.5 m for the baseline of 27 km and 1 m for the baseline of 300 km.Furthermore,the positioning errors are reduced to the centimetre level if the IF EWL observations are smoothed by narrow-lane observations for a short period. | Bofeng Li Zhiteng Zhang Weikai Miao Guang’e Chen | 2020 | Satellite Navigation2020，1，1： | 4 |
| 17 | Update China geodetic coordinate frame considering plate motion显示文摘China Geodetic Coordinate System 2000(CGCS2000),as the formal national coordinate reference frame,has been used for 20 years.The coordinates of all Global Navigation Satellite System(GNSS)stations in China need referring to this system.To this end,the first step is to align the coordinates of all stations,usually included in a regional GNSS network,with a given International Terrestrial Reference Frame(ITRF),then these coordinates are corrected to the CGCS2000 in consideration of plate movement.For a better alignment result,regional control stations are needed and their coordinates were estimated from the combination of constraint-free normal equation systems provided by several International GNSS Service(IGS)analysis centers.The effect in using these refined coordinates,which deter-mine a regional coordinate datum,on the alignment result should be evaluated by the coordinate corrections of the regional control stations to the regional coordinate datum,i.e.smaller corrections mean better alignments of the two associated frames.The test results show that the refined coordinates are more accurate than the ones calculated from the station’s velocity,and are well aligned with the ITRF2005.Moreover,for obtaining the coordinates of GNSS stations in an updated CGCS2000 frame,a gridded linear velocity field based on the estimated velocities at 1025 CGCS2000 stations was generated for China's Mainland using the optimal interpolation method,the inverse distance weighting,which is selected from five interpolation methods.The overall precisions of the constructed velocity field at all stations in the East(E)and,North(N)directions are 0.78 mm/a and 0.95 mm/a,respectively.For evaluating the accuracy of the updated CGCS2000 frame,monthly solutions for the coordinates of some CGCS2000 CORS stations in the ITRF2014 during the period from 2000.0 to 2018 were obtained and the Root Mean Square(RMS)of the differences between the coordinates corrected to the CGCS2000 and the known coordinates at these stations are about 2-3 cm. | Pengfei Cheng Yingyan Cheng Xiaoming Wang Yantian Xu | 2021 | Satellite Navigation2021，2，1： | 4 |
| 18 | Single-epoch RTK performance assessment of tightly combined BDS-2 and newly complete BDS-3显示文摘The BeiDou global navigation satellite system(BDS-3)constellation deployment has been completed on June 23,2020,with a full constellation comprising 30 satellites.In this study,we present the performance assessment of single-epoch Real-Time Kinematic(RTK)positioning with tightly combined BeiDou regional navigation satellite system(BDS-2)and BDS-3.We first investigate whether code and phase Differential Inter-System Biases(DISBs)exist between the legacy B1I/B3I signals of BDS-3/BDS-2.It is discovered that the DISBs are in fact about zero for the baselines with the same or different receiver types at their endpoints.These results imply that BDS-3 and BDS-2 are fully interoperable and can be regarded as one constellation without additional DISBs when the legacy B1I/B3I signals are used for precise relative positioning.Then we preliminarily evaluate the single-epoch short baseline RTK performance of tightly combined BDS-2 and the newly completed BDS-3.The performance is evaluated through ambiguity resolution success rate,ambiguity dilution of precision,as well as positioning accuracy in kinematic and static modes using the datasets collected in Wuhan.Experimental results demonstrate that the current BDS-3 only solutions can deliver comparable ambiguity resolution performance and much better positioning accuracy with respect to BDS-2 only solutions.Moreover,the RTK performance is much improved with tightly combined BDS-3/BDS-2,particularly in challenging or harsh conditions.The single-frequency single-epoch tightly combined BDS-3/BDS-2 solution could deliver an ambiguity resolution success rate of 96.9%even with an elevation cut-off angle of 40°,indicating that the tightly combined BDS-3/BDS-2 could achieve superior RTK positioning performance in the Asia-Pacific region.Meanwhile,the three-dimensional(East/North/Up)positioning accuracy of BDS-3 only solution(0.52 cm/0.39 cm/2.14 cm)in the kinematic test is significantly better than that of the BDS-2 only solution(0.85 cm/1.02 cm/3.01 cm)due to the better geometry of the current BDS-3 constellation.The tightly combined BDS-3/BDS-2 solution can provide the positioning accuracy of 0.52 cm,0.22 cm,and 1.80 cm,respectively. | Wanke Liu Mingkui Wu Xiaohong Zhang Wang Wang Wei Ke Zhiqin Zhu | 2021 | Satellite Navigation2021，2，1： | 4 |
| 19 | A review of real-time multi-GNSS precise orbit determination based on the filter method显示文摘Stable and reliable high-precision satellite orbit products are the prerequisites for the positioning services with high performance.In general,the positioning accuracy depends strongly on the quality of satellite orbit and clock products,especially for absolute positioning modes,such as Precise Point Positioning(PPP).With the development of real-time services,real-time Precise Orbit Determination(POD)is indispensable and mainly includes two methods:the ultra-rapid orbit prediction and the real-time filtering orbit determination.The real-time filtering method has a great potential to obtain more stable and reliable products than the ultra-rapid orbit prediction method and thus has attracted increasing attention in commercial companies and research institutes.However,several key issues should be resolved,including the refinement of satellite dynamic stochastic models,adaptive filtering for irregular satellite motions,rapid convergence,and real-time Ambiguity Resolution(AR).This paper reviews and summarizes the current research progress in real-time filtering POD with a focus on the aforementioned issues.In addition,the real-time filtering orbit determination software developed by our group is introduced,and some of the latest results are evaluated.The Three-Dimensional(3D)real-time orbit accuracy of GPS and Galileo satellites is better than 5 cm with AR.In terms of the convergence time and accuracy of kinematic PPP AR,the better performance of the filter orbit products is validated compared to the ultra-rapid orbit products. | Yidong Lou Xiaolei Dai Xiaopeng Gong Chenglong Li Yun Qing Yang Liu Yaquan Peng Shengfeng Gu | 2022 | Satellite Navigation2022，3，3： | 4 |
| 20 | Precise orbit determination for BDS satellites显示文摘Since the frst pair of BeiDou satellites was deployed in 2000,China has made continuous eforts to establish its own independent BeiDou Navigation Satellite System(BDS)to provide the regional radio determination satellite service as well as regional and global radio navigation satellite services,which rely on the high quality of orbit and clock products.This article summarizes the achievements in the precise orbit determination(POD)of BDS satellites in the past decade with the focus on observation and orbit dynamic models.First,the disclosed metadata of BDS satellites is presented and the contribution to BDS POD is addressed.The complete optical properties of the satellite bus as well as solar panels are derived based on the absorbed parameters as well the material properties.Secondly,the status and tracking capabilities of the L-band data from accessible ground networks are presented,while some low earth orbiter satellites with onboard BDS tracking capability are listed.The topological structure and measurement scheme of BDS Inter-Satellite-Link(ISL)data are described.After highlighting the progress on observation models as well as orbit perturbations for BDS,e.g.,phase center corrections,satellite attitude,and solar radiation pressure,diferent POD strategies used for BDS are summarized.In addition,the urgent requirement for error modeling of the ISL data is emphasized based on the analysis of the observation noises,and the incompatible characteristics of orbit and clock derived with L-band and ISL data are illuminated and discussed.The further researches on the improvement of phase center calibration and orbit dynamic models,the refnement of ISL observation models,and the potential contribution of BDS to the estimation of geodetic parameters based on L-band or ISL data are identifed.With this,it is promising that BDS can achieve better performance and provides vital contributions to the geodesy and navigation. | Qile Zhao Jing Guo Chen Wang Yifei Lyu Xiaolong Xu Chao Yang Junqiang Li | 2022 | Satellite Navigation2022，3，1： | 4 |
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