AMPK signaling mediates synphilin-1-induced hyperphagia and obesity in Drosophila.

Expression of synphilin-1 in neurons induces hyperphagia and obesity in a Drosophila model. However, the molecular pathways underlying synphilin-1-linked obesity remain unclear. Here, Drosophila models and genetic tools were used to study the synphilin-1-linked pathways in energy balance by combining molecular biology and pharmacological approaches. We found that expression of human synphilin-1 in flies increased AMP-activated kinase (AMPK) phosphorylation at Thr172 compared with that in non-transgenic flies. Knockdown of AMPK reduced AMPK phosphorylation and food intake in non-transgenic flies, and further suppressed synphilin-1-induced AMPK phosphorylation, hyperphagia, fat storage and body weight gain in transgenic flies. Expression of constitutively activated AMPK significantly increased food intake and body weight gain in non-transgenic flies, but it did not alter food intake in the synphilin-1 transgenic flies. In contrast, expression of dominant-negative AMPK reduced food intake in both non-transgenic and synphilin-1 transgenic flies. Treatment with STO-609 also suppressed synphilin-1-induced AMPK phosphorylation, hyperphagia and body weight gain. These results demonstrate that the AMPK signaling pathway plays a critical role in synphilin-1-induced hyperphagia and obesity. These findings provide new insights into the mechanisms of synphilin-1-controlled energy homeostasis.

LOC554202 contributes to chordoma progression by sponging miR-377-3p and up-regulating SMAD3.

Chordoma is a rare malignant bone tumor originating from the remnants of the notochord. Here, the role of long noncoding LOC554202 in chordoma progression and its associated mechanism were explored. Cell proliferation was analyzed by 3-(4, 5-dimethylthiazol-2-yl)-2, 5 diphenyltetrazolium bromide and colony formation assays. Flow cytometry was conducted to analyze cell apoptosis rate. The migration and invasion of chordoma cells were analyzed by transwell migration and invasion assays and wound healing assays. A xenograft tumor model was established in nude mice to explore the role of LOC554202 in regulating tumor growth in vivo . The interaction between microRNA-377-3p (miR-377-3p) and LOC554202 or sekelsky mothers against d PP (SMAD) family member 3 (SMAD3) was verified by dual-luciferase reporter and RNA immunoprecipitation assays. The glycolytic rate of chordoma cells was analyzed using glucose assay kit, lactic acid kit and ApoSENSOR ADP/ATP ratio assay kit. LOC554202 expression was upregulated in chordoma tissues and cell lines. LOC554202 silencing suppressed the proliferation, migration and invasion and induced the apoptosis of chordoma cells. LOC554202 knockdown restrained xenograft tumor growth in vivo . miR-377-3p was confirmed as a target of LOC554202, and miR-377-3p silencing largely overturned LOC554202 knockdown-mediated anti-tumor effects in chordoma cells. miR-377-3p interacted with the 3' untranslated region (3'UTR) of SMAD3 and miR-377-3p overexpression-mediated antitumor effects in chordoma cells were largely attenuated by SMAD3 overexpression. LOC554202 could positively regulate SMAD3 expression by sponging miR-377-3p in chordoma cells. LOC554202 contributed to the glycolysis of chordoma cells by targeting binding to miR-377-3p/SMAD3 axis. LOC554202 facilitated the proliferation, migration, invasion and glycolysis and inhibited the apoptosis of chordoma cells by mediating miR-377-3p/SMAD3 axis.

Connecting Ras and CTP synthase in Drosophila.

CTP synthase (CTPS), the enzyme responsible for the last step of de novo synthesis of CTP, forms filamentous structures termed cytoophidia in all three domains of life. Here we report that oncogenic Ras regulates cytoophidium formation in Drosophila intestines. Overexpressing active Ras induces elongate and abundant cytoophidia in intestinal stem cells (ISCs) and enteroblasts (EBs). Knocking-down CTPS in ISCs/EBs suppresses the over- proliferation phenotype induced by ectopic expression of active Ras. Moreover, disrupting cytoophidium formation increases the number of proliferating cells in the background of overexpressing active Ras. Therefore, our results demonstrate a link between Ras and CTPS.

Cytoophidia coupling adipose architecture and metabolism.

Tissue architecture determines its unique physiology and function. How these properties are intertwined has remained unclear. Here we show that the metabolic enzyme CTP synthase (CTPS) form filamentous structures termed cytoophidia along the adipocyte cortex in Drosophila adipose tissue. Loss of cytoophidia, whether due to reduced CTPS expression or a point mutation that specifically abrogates its polymerization ability, causes impaired adipocyte adhesion and defective adipose tissue architecture. Moreover, CTPS influences integrin distribution and dot-like deposition of type IV collagen (Col IV). Col IV-integrin signaling reciprocally regulates the assembly of cytoophidia in adipocytes. Our results demonstrate that a positive feedback signaling loop containing both cytoophidia and integrin adhesion complex couple tissue architecture and metabolism in Drosophila adipose tissue.

Simultaneous measurement of near-water-film air temperature and humidity fields based on dual-wavelength digital holographic interferometry.

We present a method to reconstruct the near-water-film air temperature and humidity distributions synchronously by measuring the phase delays based on dual-wavelength digital holographic interferometry. A falling water film device was used to create a water film evaporation environment and generate axially uniform temperature and humidity fields. The relationship between air temperature, humidity and phase delay is derived from the Edlen equations. With such relationship, the temperature and humidity distributions can be solved directly according to phase delays of two different wavelengths. An edge phase enhancement method and an error elimination method with PSO are presented to improve the measurement accuracy. The temperature and humidity fields in the falling water film model were experimentally reconstructed with temperature deviation of 0.06% and relative humidity deviation of 2.61%.

Drosophila intestinal homeostasis requires CTP synthase.

CTP synthase (CTPS) senses all four nucleotides and forms filamentous structures termed cytoophidia in all three domains of life. How CTPS and cytoophidia function in a developmental context, however, remains underexplored. We report that CTPS forms cytoophidia in a subset of cells in the Drosophila midgut. We found that cytoophidia exist in intestinal stem cells (ISC) and enteroblasts in similar proportions. Both refeeding after starvation and feeding with dextran sulfate sodium (DSS) induce ISC proliferation and elongate cytoophidia. Knockdown of CTPS inhibits ISC proliferation. Remarkably, disruption of CTPS cytoophidia inhibits DSS-induced ISC proliferation. Taken together, these data suggest that both the expression level and the filament-form property of CTPS are crucial for intestinal homeostasis in Drosophila.

circ_0067934 promotes the progression of papillary thyroid carcinoma cells through miR-1301-3p/HMGB1 axis.

Papillary thyroid carcinoma (PTC) is the most prevalent form of thyroid cancer (TC). There is increasing evidence that circular RNAs play a role in the tumorigenesis of PTC. The aim of our study was to evaluate the potential function of circ_0067934 in PTC and the underlying molecular mechanism. In our study, cell viability assay, quantitative real-time PCR (qRT-PCR), colony formation assay, flow cytometry, wound-healing assay, Transwell invasion assay, western blot, soft agar assay, RNA immunoprecipitation (RIP), dual-luciferase reporter assay, immunohistochemical (IHC) staining, and tumor xenograft formation were conducted to evaluate the effects of circ_0067934 in PTC cells. We found that circ_0067934 was upregulated in PTC tissues and cell lines. Knockdown of circ_0067934 inhibited growth, colony formation, migration, invasion, EMT, and tumor xenograft growth, and induced apoptosis of PTC cells. Moreover, circ_0067934 acted as a molecular sponge for miR-1301-3p, and depletion of miR-1301-3p abrogated the effects of circ_0067934 knockdown in PTC cells. In addition, HMGB1 was a target of miR-1301-3p, and miR-1301-3p overexpression inhibited the malignant effects of PTC cells via suppressing HMGB1. Furthermore, knockdown of circ_0067934 suppressed HMGB1 expression, PI3K/Akt, and MAPK activation by sponging miR-1301-3p. In nude mice, circ_0067934 depletion repressed tumor xenograft growth of PTC cells. In conclusion, our results provided a novel insight into circ_0067934 in the tumorigenesis and progression of PTC. circ_0067934 might be a prognostic marker or therapeutic target for PTC treatment.

Numerical Analysis and Comparison of Four Stabilized Finite Element Methods for the Steady Micropolar Equations.

In this paper, four stabilized methods based on the lowest equal-order finite element pair for the steady micropolar Navier-Stokes equations (MNSE) are presented, which are penalty, regular, multiscale enrichment, and local Gauss integration methods. A priori properties, existence, uniqueness, stability, and error estimation based on Fem approximation of all the methods are proven for the physical variables. Finally, some numerical examples are displayed to show the numerical characteristics of these methods.

Real-Time HD Map Change Detection for Crowdsourcing Update Based on Mid-to-High-End Sensors.

Continuous maintenance and real-time update of high-definition (HD) maps is a big challenge. With the development of autonomous driving, more and more vehicles are equipped with a variety of advanced sensors and a powerful computing platform. Based on mid-to-high-end sensors including an industry camera, a high-end Global Navigation Satellite System (GNSS)/Inertial Measurement Unit (IMU), and an onboard computing platform, a real-time HD map change detection method for crowdsourcing update is proposed in this paper. First, a mature commercial integrated navigation product is directly used to achieve a self-positioning accuracy of 20 cm on average. Second, an improved network based on BiSeNet is utilized for real-time semantic segmentation. It achieves the result of 83.9% IOU (Intersection over Union) on Nvidia Pegasus at 31 FPS. Third, a visual Simultaneous Localization and Mapping (SLAM) associated with pixel type information is performed to obtain the semantic point cloud data of features such as lane dividers, road markings, and other static objects. Finally, the semantic point cloud data is vectorized after denoising and clustering, and the results are matched with a pre-constructed HD map to confirm map elements that have not changed and generate new elements when appearing. The experiment conducted in Beijing shows that the method proposed is effective for crowdsourcing update of HD maps.

Pole-Like Object Extraction and Pole-Aided GNSS/IMU/LiDAR-SLAM System in Urban Area.

Vision-based sensors such as LiDAR (Light Detection and Ranging) are adopted in the SLAM (Simultaneous Localization and Mapping) system. In the 16-beam LiDAR aided SLAM system, due to the difficulty of object detection by sparse laser data, neither the grid-based nor feature point-based solution can avoid the interference of moving objects. In an urban environment, the pole-like objects are common, invariant and have distinguishing characteristics. Therefore, it is suitable to bring more robust and reliable positioning results as auxiliary information in the process of vehicle positioning and navigation. In this work, we proposed a scheme of a SLAM system using a GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit) and LiDAR sensor using the position of pole-like objects as the features for SLAM. The scheme combines a traditional preprocessing method and a small scale artificial neural network to extract the pole-like objects in environment. Firstly, the threshold-based method is used to extract the pole-like object candidates from the point cloud, and then, the neural network is applied for training and inference to obtain pole-like objects. The result shows that the accuracy and recall rate are sufficient to provide stable observation for the following SLAM process. After extracting the poles from the LiDAR point cloud, their coordinates are added to the feature map, and the nonlinear optimization of the front end is carried out by utilizing the distance constraints corresponding to the pole coordinates; then, the heading angle and horizontal plane translation are estimated. The ground feature points are used to enhance the elevation, pitch and roll angle accuracy. The performance of the proposed navigation system is evaluated through field experiments by checking the position drift and attitude errors during multiple two-min mimic GNSS outages without additional IMU motion constrain such as NHC (Nonholonomic Constrain). The experimental results show that the performance of the proposed scheme is superior to that of the conventional feature point grid-based SLAM with the same back end, especially in congested crossroads where slow-moving vehicles are surrounded and pole-like objects are rich in the environment. The mean plane position error during two-min GNSS outages was reduced by 38.5%, and the root mean square error was reduced by 35.3%. Therefore, the proposed pole-like feature-based GNSS/IMU/LiDAR SLAM system can fuse condensed information from those sensors effectively to mitigate positioning and orientation errors, even in a short-time GNSS denied environment.

Synphilin-1 Interacts with AMPK and Increases AMPK Phosphorylation.

A role for the cytoplasmic protein synphilin-1 in regulating energy balance has been demonstrated recently. Expression of synphilin-1 increases ATP levels in cultured cells. However, the mechanism by which synphilin-1 alters cellular energy status is unknown. Here, we used cell models and biochemical approaches to investigate the cellular functions of synphilin-1 on the AMP-activated protein kinase (AMPK) signaling pathway, which may affect energy balance. Overexpression of synphilin-1 increased AMPK phosphorylation (activation). Moreover, synphilin-1 interacted with AMPK by co-immunoprecipitation and GST (glutathione S-transferase) pull-down assays. Knockdown of synphilin-1 reduced AMPK phosphorylation. Overexpression of synphilin-1 also altered AMPK downstream signaling, i.e., a decrease in acetyl CoA carboxylase (ACC) phosphorylation, and an increase in p70S6K phosphorylation. Treatment of compound C (an AMPK inhibitor) reduced synphilin-1 binding with AMPK. In addition, compound C diminished synphilin-1-induced AMPK phosphorylation, and the increase in cellular ATP (adenosine triphosphate) levels. Our results demonstrated that synphilin-1 couples with AMPK, and they exert mutual effects on each other to regulate cellular energy status. These findings not only identify novel cellular actions of synphilin-1, but also provide new insights into the roles of synphilin-1 in regulating energy currency, ATP.

A Novel Perspective of the Kalman Filter from the Rényi Entropy.

Rényi entropy as a generalization of the Shannon entropy allows for different averaging of probabilities of a control parameter α. This paper gives a new perspective of the Kalman filter from the Rényi entropy. Firstly, the Rényi entropy is employed to measure the uncertainty of the multivariate Gaussian probability density function. Then, we calculate the temporal derivative of the Rényi entropy of the Kalman filter's mean square error matrix, which will be minimized to obtain the Kalman filter's gain. Moreover, the continuous Kalman filter approaches a steady state when the temporal derivative of the Rényi entropy is equal to zero, which means that the Rényi entropy will keep stable. As the temporal derivative of the Rényi entropy is independent of parameter α and is the same as the temporal derivative of the Shannon entropy, the result is the same as for Shannon entropy. Finally, an example of an experiment of falling body tracking by radar using an unscented Kalman filter (UKF) in noisy conditions and a loosely coupled navigation experiment are performed to demonstrate the effectiveness of the conclusion.

BeiDou Augmented Navigation from Low Earth Orbit Satellites.

Currently, the Global Navigation Satellite System (GNSS) mainly uses the satellites in Medium Earth Orbit (MEO) to provide position, navigation, and timing (PNT) service. The weak navigation signals limit its usage in deep attenuation environments, and make it easy to interference and counterfeit by jammers or spoofers. Moreover, being far away to the Earth results in relatively slow motion of the satellites in the sky and geometric change, making long time needed for achieved centimeter positioning accuracy. By using the satellites in Lower Earth Orbit (LEO) as the navigation satellites, these disadvantages can be addressed. In this contribution, the advantages of navigation from LEO constellation has been investigated and analyzed theoretically. The space segment of global Chinese BeiDou Navigation Satellite System consisting of three GEO, three IGSO, and 24 MEO satellites has been simulated with a LEO constellation with 120 satellites in 10 orbit planes with inclination of 55 degrees in a nearly circular orbit (eccentricity about 0.000001) at an approximate altitude of 975 km. With simulated data, the performance of LEO constellation to augment the global Chinese BeiDou Navigation Satellite System (BeiDou-3) has been assessed, as one of the example to show the promising of using LEO as navigation system. The results demonstrate that the satellite visibility and position dilution of precision have been significantly improved, particularly in mid-latitude region of Asia-Pacific region, once the LEO data were combined with BeiDou-3 for navigation. Most importantly, the convergence time for Precise Point Positioning (PPP) can be shorted from about 30 min to 1 min, which is essential and promising for real-time PPP application. Considering there are a plenty of commercial LEO communication constellation with hundreds or thousands of satellites, navigation from LEO will be an economic and promising way to change the heavily relay on GNSS systems.

A Hybrid Sliding Window Optimizer for Tightly-Coupled Vision-Aided Inertial Navigation System.

The fusion of visual and inertial measurements for motion tracking has become prevalent in the robotic community, due to its complementary sensing characteristics, low cost, and small space requirements. This fusion task is known as the vision-aided inertial navigation system problem. We present a novel hybrid sliding window optimizer to achieve information fusion for a tightly-coupled vision-aided inertial navigation system. It possesses the advantages of both the conditioning-based method and the prior-based method. A novel distributed marginalization method was also designed based on the multi-state constraints method with significant efficiency improvement over the traditional method. The performance of the proposed algorithm was evaluated with the publicly available EuRoC datasets and showed competitive results compared with existing algorithms.

Synphilin-1 attenuates mutant LRRK2-induced neurodegeneration in Parkinson's disease models.

Mutations in leucine-rich repeat kinase 2 (LRRK2) cause autosomal-dominant Parkinsonism with pleomorphic pathology including deposits of aggregated protein and neuronal degeneration. The pathogenesis of LRRK2-linked Parkinson's disease (PD) is not fully understood. Here, using co-immunoprecipitation, we found that LRRK2 interacted with synphilin-1 (SP1), a cytoplasmic protein that interacts with α-synuclein and has implications in PD pathogenesis. LRRK2 interacted with the N-terminus of SP1 whereas SP1 predominantly interacted with the C-terminus of LRRK2, including kinase domain. Co-expression of SP1 with LRRK2 increased LRRK2-induced cytoplasmic aggregation in cultured cells. Moreover, SP1 also attenuated mutant LRRK2-induced toxicity and reduced LRRK2 kinase activity in cultured cells. Knockdown of SP1 by siRNA enhanced LRRK2 neuronal toxicity. In vivo Drosophila studies, co-expression of SP1 and mutant G2019S-LRRK2 in double transgenic Drosophila increased survival and improved locomotor activity. Expression of SP1 protects against G2019S-LRRK2-induced dopamine neuron loss and reduced LRRK2 phosphorylation in double transgenic fly brains. Our findings demonstrate that SP1 attenuates mutant LRRK2-induced PD-like phenotypes and plays a neural protective role.

Performance Analysis of Beidou-2/Beidou-3e Combined Solution with Emphasis on Precise Orbit Determination and Precise Point Positioning.

In 2015, the plan for global coverage by the Chinese BeiDou Navigation Satellite System was launched. Five global BeiDou experimental satellites (BeiDou-3e) are in orbit for testing. To analyze the performances of precise orbit determination (POD) and precise point positioning (PPP) of onboard BeiDou satellites, about two months of data from 24 tracking stations were used. According to quality analysis of BeiDou-2/BeiDou-3e data, there is no satellite-induced code bias in BeiDou-3e satellites, which has been found in BeiDou-2 satellites. This phenomenon indicates that the quality issues of pseudorange data in BeiDou satellites have been solved well. POD results indicate that the BeiDou-3e orbit precision is comparable to that of BeiDou-2 satellites. The ambiguity fixed solution improved the orbit consistency of inclined geosynchronous orbit satellites in along-track and cross-track directions, but had little effect in the radial direction. Satellite laser ranging of BeiDou-3e medium Earth orbit satellites (MEOs) achieved a standard deviation of about 4 cm. Differences in clock offset series after the removal of reference clock in overlapping arcs were used to assess clock quality, and standard deviation of clock offset could reach 0.18 ns on average, which was in agreement with the orbit precision. For static PPP, when BeiDou-3e satellites were included, the positioning performance for horizontal components was improved slightly. For kinematic PPP, when global positioning satellites (GPS) were combined with BeiDou-2 and BeiDou-3e satellites, the convergence time was 13.5 min with a precision of 2-3 cm for horizontal components, and 3-4 cm for the vertical component.

A Police and Insurance Joint Management System Based on High Precision BDS/GPS Positioning.

Car ownership in China reached 194 million vehicles at the end of 2016. The traffic congestion index (TCI) exceeds 2.0 during rush hour in some cities. Inefficient processing for minor traffic accidents is considered to be one of the leading causes for road traffic jams. Meanwhile, the process after an accident is quite troublesome. The main reason is that it is almost always impossible to get the complete chain of evidence when the accident happens. Accordingly, a police and insurance joint management system is developed which is based on high precision BeiDou Navigation Satellite System (BDS)/Global Positioning System (GPS) positioning to process traffic accidents. First of all, an intelligent vehicle rearview mirror terminal is developed. The terminal applies a commonly used consumer electronic device with single frequency navigation. Based on the high precision BDS/GPS positioning algorithm, its accuracy can reach sub-meter level in the urban areas. More specifically, a kernel driver is built to realize the high precision positioning algorithm in an Android HAL layer. Thus the third-party application developers can call the general location Application Programming Interface (API) of the original standard Global Navigation Satellite System (GNSS) to get high precision positioning results. Therefore, the terminal can provide lane level positioning service for car users. Next, a remote traffic accident processing platform is built to provide big data analysis and management. According to the big data analysis of information collected by BDS high precision intelligent sense service, vehicle behaviors can be obtained. The platform can also automatically match and screen the data that uploads after an accident to achieve accurate reproduction of the scene. Thus, it helps traffic police and insurance personnel to complete remote responsibility identification and survey for the accident. Thirdly, a rapid processing flow is established in this article to meet the requirements to quickly handle traffic accidents. The traffic police can remotely identify accident responsibility and the insurance personnel can remotely survey an accident. Moreover, the police and insurance joint management system has been carried out in Wuhan, Central China's Hubei Province, and Wuxi, Eastern China's Jiangsu Province. In a word, a system is developed to obtain and analyze multisource data including precise positioning and visual information, and a solution is proposed for efficient processing of traffic accidents.

A Railway Track Geometry Measuring Trolley System Based on Aided INS.

Accurate measurement of the railway track geometry is a task of fundamental importance to ensure the track quality in both the construction phase and the regular maintenance stage. Conventional track geometry measuring trolleys (TGMTs) in combination with classical geodetic surveying apparatus such as total stations alone cannot meet the requirements of measurement accuracy and surveying efficiency at the same time. Accurate and fast track geometry surveying applications call for an innovative surveying method that can measure all or most of the track geometric parameters in short time without interrupting the railway traffic. We provide a novel solution to this problem by integrating an inertial navigation system (INS) with a geodetic surveying apparatus, and design a modular TGMT system based on aided INS, which can be configured according to different surveying tasks including precise adjustment of slab track, providing tamping measurements, measuring track deformation and irregularities, and determination of the track axis. TGMT based on aided INS can operate in mobile surveying mode to significantly improve the surveying efficiency. Key points in the design of the TGMT's architecture and the data processing concept and workflow are introduced in details, which should benefit subsequent research and provide a reference for the implementation of this kind of TGMT. The surveying performance of proposed TGMT with different configurations is assessed in the track geometry surveying experiments and actual projects.

Performance of BDS-3: Measurement Quality Analysis, Precise Orbit and Clock Determination.

Since 2015, China has successfully launched five experimental BeiDou global navigation system (BDS-3) satellites for expanding the regional system to global coverage. An initial performance assessment and characterization analysis of the BDS-3 is presented. Twenty days of tracking data have been collected from eleven monitoring stations. The tracking characteristics and measurement quality are analyzed and compared with the regional BDS (BDS-2) in terms of observed carrier-to-noise density ratio, pseudo-range multipath, and noise. The preliminary results suggest that the measurement quality of BDS-3 outperforms the BDS-2 for the same type of satellites. In addition, the analysis of multipath combinations reveals that the problem of satellite-induced code biases found in BDS-2 seems to have been solved for BDS-3. Precise orbit and clock determination are carried out and evaluated. The orbit overlap comparison show a precision of 2-6 dm in 3D root mean square (RMS) and 6-14 cm in the radial component for experimental BDS-3 satellites. External validations with satellite laser ranging (SLR) show residual RMS on the level of 1-3 dm. Finally, the performance of the new-generation onboard atomic clocks is evaluated and results confirm an increased stability compared to BDS-2 satellite clocks.

A New Zenith Tropospheric Delay Grid Product for Real-Time PPP Applications over China.

Tropospheric delay is one of the major factors affecting the accuracy of electromagnetic distance measurements. To provide wide-area real-time high precision zenith tropospheric delay (ZTD), the temporal and spatial variations of ZTD with altitude were analyzed on the bases of the latest meteorological reanalysis product (ERA-Interim) provided by the European Center for Medium-Range Weather Forecasts (ECMWF). An inverse scale height model at given locations taking latitude, longitude and day of year as inputs was then developed and used to convert real-time ZTD at GPS stations in Crustal Movement Observation Network of China (CMONOC) from station height to mean sea level (MSL). The real-time ZTD grid product (RtZTD) over China was then generated with a time interval of 5 min. Compared with ZTD estimated in post-processing mode, the bias and error RMS of ZTD at test GPS stations derived from RtZTD are 0.39 and 1.56 cm, which is significantly more accurate than commonly used empirical models. In addition, simulated real-time kinematic Precise Point Positioning (PPP) tests show that using RtZTD could accelerate the BDS-PPP convergence time by up to 32% and 65% in the horizontal and vertical components (set coordinate error thresholds to 0.4 m), respectively. For GPS-PPP, the convergence time using RtZTD can be accelerated by up to 29% in the vertical component (0.2 m).