Author Contributions
Conceptualization, X.W. and H.L.; methodology, Y.C. and J.Z; software, Y.C., J.Z., and K.Z.; investigation, Y.C., C.Q., and S.X.; data curation, Y.C. and J.Z.; writing—original draft preparation, Y.C.; writing—review and editing, Y.C. and X.W.; supervision, X.W. All authors have read and agreed to the published version of the manuscript.
Figure 1.
The Earth coverage areas of the three GEO satellites for 5°, 10°, and 15° elevation cut-off angles.
Figure 1.
The Earth coverage areas of the three GEO satellites for 5°, 10°, and 15° elevation cut-off angles.
Figure 2.
Time series of the orbit corrections of the BDS-3 and the GPS satellites in the radial, along-, and cross-track directions on DOY 192 in 2022.
Figure 2.
Time series of the orbit corrections of the BDS-3 and the GPS satellites in the radial, along-, and cross-track directions on DOY 192 in 2022.
Figure 3.
Number of consecutive periods for orbit arcs of the BDS-3 and the GPS satellites with different lengths of time on DOY 192 in 2022. Different colors represent different continuous time periods.
Figure 3.
Number of consecutive periods for orbit arcs of the BDS-3 and the GPS satellites with different lengths of time on DOY 192 in 2022. Different colors represent different continuous time periods.
Figure 4.
Time series of the clock corrections of the BDS-3 and the GPS satellites on DOY 192 in 2022.
Figure 4.
Time series of the clock corrections of the BDS-3 and the GPS satellites on DOY 192 in 2022.
Figure 5.
Number of consecutive periods for clock arcs of the BDS-3 and the GPS satellites with different lengths of time on DOY 192 in 2022. Different colors represent different continuous time periods.
Figure 5.
Number of consecutive periods for clock arcs of the BDS-3 and the GPS satellites with different lengths of time on DOY 192 in 2022. Different colors represent different continuous time periods.
Figure 6.
Re-edit of the time series of the clock corrections of the BDS-3 and the GPS satellites on DOY 192 in 2022.
Figure 6.
Re-edit of the time series of the clock corrections of the BDS-3 and the GPS satellites on DOY 192 in 2022.
Figure 7.
RMSE of the BDS-3 and GPS satellite orbits recovered with the PPP-B2b signals in the radial, along-, and cross-track directions using the GBM orbit products as a reference during DOY 168–198 in 2022.
Figure 7.
RMSE of the BDS-3 and GPS satellite orbits recovered with the PPP-B2b signals in the radial, along-, and cross-track directions using the GBM orbit products as a reference during DOY 168–198 in 2022.
Figure 8.
RMSE of the BDS-3 and GPS satellite clock offset recovered with the PPP-B2b signals using the GBM orbit products as a reference during DOY 168–198 in 2022.
Figure 8.
RMSE of the BDS-3 and GPS satellite clock offset recovered with the PPP-B2b signals using the GBM orbit products as a reference during DOY 168–198 in 2022.
Figure 9.
STD of the BDS-3 and GPS satellite clock offset recovered with the PPP-B2b signals using the GBM orbit products as a reference during DOY 168–198 in 2022.
Figure 9.
STD of the BDS-3 and GPS satellite clock offset recovered with the PPP-B2b signals using the GBM orbit products as a reference during DOY 168–198 in 2022.
Figure 10.
RMSE of the extended orbit corrections of the BDS-3 and GPS satellites in the radial, along-, and cross-track directions on DOY 192 in 2022.
Figure 10.
RMSE of the extended orbit corrections of the BDS-3 and GPS satellites in the radial, along-, and cross-track directions on DOY 192 in 2022.
Figure 11.
RMSE of the extended clock corrections of the BDS-3 and GPS satellites in the radial, along-, and cross-track directions on DOY 192 in 2022.
Figure 11.
RMSE of the extended clock corrections of the BDS-3 and GPS satellites in the radial, along-, and cross-track directions on DOY 192 in 2022.
Figure 12.
Mean RMSE of the real-time PPP-B2b positioning errors of the simulated kinematic PPP-B2b solutions for the five stations in the north, east, and up directions, and 3D coordinates, during DOY 355–361 in 2022.
Figure 12.
Mean RMSE of the real-time PPP-B2b positioning errors of the simulated kinematic PPP-B2b solutions for the five stations in the north, east, and up directions, and 3D coordinates, during DOY 355–361 in 2022.
Figure 13.
Effects of different interruption lengths on the simulated kinematic PPP-B2b positioning results for the BJ01 station in the north, east, up, and 3D directions on DOY 279 in 2022.
Figure 13.
Effects of different interruption lengths on the simulated kinematic PPP-B2b positioning results for the BJ01 station in the north, east, up, and 3D directions on DOY 279 in 2022.
Figure 14.
Accuracy of the remaining four stations in the north, east, and up directions, and 3D coordinates after the interruption at 16:30:00 and without the interruption.
Figure 14.
Accuracy of the remaining four stations in the north, east, and up directions, and 3D coordinates after the interruption at 16:30:00 and without the interruption.
Figure 15.
Real-time PPP-B2b positioning accuracy in kinematic mode, including PPP-B2b service interruptions.
Figure 15.
Real-time PPP-B2b positioning accuracy in kinematic mode, including PPP-B2b service interruptions.
Table 1.
Mean RMSE of the PPP-B2b orbit products recovered with extension corrections using the GBM orbit products as a reference during DOY 192–198 in 2022.
Table 1.
Mean RMSE of the PPP-B2b orbit products recovered with extension corrections using the GBM orbit products as a reference during DOY 192–198 in 2022.
Extension Time/s | BDS-3 MEO | BDS-3 IGSO | GPS |
---|
R/m | A/m | C/m | R/m | A/m | C/m | R/m | A/m | C/m |
---|
30 | 0.14 | 0.23 | 0.20 | 0.14 | 0.29 | 0.24 | 0.07 | 0.29 | 0.25 |
60 | 0.14 | 0.23 | 0.21 | 0.15 | 0.29 | 0.24 | 0.07 | 0.32 | 0.26 |
120 | 0.15 | 0.24 | 0.21 | 0.15 | 0.30 | 0.25 | 0.08 | 0.34 | 0.27 |
180 | 0.15 | 0.24 | 0.21 | 0.15 | 0.30 | 0.25 | 0.08 | 0.35 | 0.28 |
300 | 0.15 | 0.25 | 0.22 | 0.15 | 0.30 | 0.26 | 0.09 | 0.38 | 0.29 |
600 | 0.16 | 0.26 | 0.23 | 0.16 | 0.31 | 0.27 | 0.11 | 0.45 | 0.33 |
1200 | 0.17 | 0.29 | 0.25 | 0.18 | 0.34 | 0.29 | 0.13 | 0.58 | 0.40 |
1800 | 0.18 | 0.31 | 0.27 | 0.19 | 0.35 | 0.31 | 0.18 | 0.67 | 0.45 |
3600 | 0.20 | 0.36 | 0.30 | 0.22 | 0.38 | 0.35 | 0.23 | 0.80 | 0.58 |
Table 2.
Mean RMSE of the PPP-B2b clock products recovered with extension corrections using the GBM clock products as a reference during DOY 192–198 in 2022.
Table 2.
Mean RMSE of the PPP-B2b clock products recovered with extension corrections using the GBM clock products as a reference during DOY 192–198 in 2022.
Extension Time/s | BDS-3 MEO | BDS-3 IGSO | GPS |
---|
Clock/ns | Clock/ns | Clock/ns |
---|
30 | 1.75 | 1.88 | 3.89 |
60 | 1.79 | 1.94 | 3.96 |
120 | 1.83 | 2.01 | 4.05 |
180 | 1.86 | 2.07 | 4.10 |
300 | 1.91 | 2.14 | 4.19 |
600 | 2.01 | 2.27 | 4.35 |
1200 | 2.16 | 2.44 | 4.57 |
1800 | 2.27 | 2.57 | 4.76 |
3600 | 2.52 | 2.85 | 5.16 |
Table 3.
Mean STD of the PPP-B2b clock products recovered with extension corrections using the GBM clock products as a reference during DOY 192–198 in 2022.
Table 3.
Mean STD of the PPP-B2b clock products recovered with extension corrections using the GBM clock products as a reference during DOY 192–198 in 2022.
Extension Time/s | BDS-3 MEO | BDS-3 IGSO | GPS |
---|
Clock/ns | Clock/ns | Clock/ns |
---|
0–30 | 0.11 | 0.12 | 0.13 |
0–60 | 0.12 | 0.13 | 0.16 |
0–120 | 0.13 | 0.14 | 0.17 |
0–180 | 0.13 | 0.15 | 0.17 |
0–300 | 0.14 | 0.17 | 0.19 |
0–600 | 0.17 | 0.20 | 0.22 |
0–1200 | 0.20 | 0.24 | 0.28 |
0–1800 | 0.23 | 0.27 | 0.31 |
0–3600 | 0.29 | 0.33 | 0.41 |
Table 4.
Processing strategies for the simulated kinematic PPP-B2b experiment.
Table 4.
Processing strategies for the simulated kinematic PPP-B2b experiment.
Item | Processing Strategy |
---|
System | BDS-3 + GPS |
Frequencies | GPS L1/L2 and BDS-3 B1I/B3I |
Observation data | Real-time data stream |
Satellite orbit and clock | B2b corrections + Broadcast ephemeris |
Ionospheric delay | Ionosphere-free linear combination with dual frequency |
Tropospheric delay | Estimation zenith total delay and horizontal gradient parameters |
Antenna PCO/PCV | Igs14.atx |
Elevation cut-off angle | 7° |
Table 5.
Locations of the five stations selected in the simulated kinematic PPP-B2b experiment.
Table 5.
Locations of the five stations selected in the simulated kinematic PPP-B2b experiment.
Site | Latitude (°) | Longitude (°) | Height (km) |
---|
BJ01 | 40.07 | 116.27 | 0.09 |
JFNG | 30.52 | 114.49 | 0.07 |
HKSC | 22.32 | 114.14 | 0.02 |
KSKT | 39.50 | 75.93 | 1.27 |
MSSA | 36.14 | 138.35 | 1.63 |
Table 6.
Mean RMSE of 3D positioning error of the simulated kinematic PPP-B2b solutions at different times for the five stations during DOY 355–361 in 2022.
Table 6.
Mean RMSE of 3D positioning error of the simulated kinematic PPP-B2b solutions at different times for the five stations during DOY 355–361 in 2022.
Interruption Times/min | 3D Error/m |
---|
BJ01 | JFNG | HKSC | KSKT | MSSA |
---|
No Interruption | 0.111 | 0.137 | 0.141 | 0.266 | 0.340 |
0–10 | 0.118 | 0.138 | 0.142 | 0.289 | 0.351 |
10–20 | 0.143 | 0.159 | 0.167 | 0.354 | 0.434 |
20–30 | 0.179 | 0.233 | 0.210 | 0.432 | 0.479 |
30–40 | 0.218 | 0.319 | 0.262 | 0.461 | 0.513 |
40–50 | 0.262 | 0.405 | 0.328 | 0.505 | 0.566 |
50–60 | 0.305 | 0.413 | 0.369 | 0.558 | 0.689 |