Analysis of Post-Processed Pseudorange-Based Point Positioning with Different Data Sources for the Current Galileo Constellations.

The Galileo satellite navigation system now provides initial services. With further satellite launches, the performance of Galileo will gradually improve, and new services will be introduced. This study aims to provide a comprehensive analysis of Galileo Single Point Positioning (SPP) using different broadcast ephemeris data sources. This study investigates the completeness of Galileo navigation message records from different institutions. The results show that IGS provides the best completeness across different data sources (ECR > 70%), while IGN exhibits the lowest completeness. Analyze the proportions of different data sources within the Galileo navigation message in the broadcast ephemeris files provided by IGS during the study period. The proportions of FNAV_258, INAV_513, INAV_516, and INAV_517 during the study period are 25.83%, 24.76%, 23.61%, and 25.80%, respectively, suggesting better data completeness for FNAV_258 and INAV_517 and poorer completeness for INAV_513 and INAV_516. Finally, this study explores SPP solutions for GPS and Galileo systems using different data sources. The results indicate that a higher ECR corresponds to better positioning performance. Although GPS exhibits smaller error fluctuations and smoother positioning results, Galileo's SPP positioning accuracy surpasses that of GPS. The introduction of dual-frequency observations effectively reduces data dispersion and enhances vertical positioning accuracy.

Improving the Performance of Time-Relative GNSS Precise Positioning in Remote Areas.

Global navigation satellite systems (GNSS) can attain centimeter level positioning accuracy, which is conventionally provided by real-time precise point positioning (PPP) and real-time kinematic (RTK) techniques. Corrections from the data center or the reference stations are required in these techniques to reduce various GNSS errors. The time-relative positioning approach differs from the traditional PPP and RTK in the sense that it does not require external real-time corrections. It computes the differences in positions of a single receiver at different epochs using phase observations. As the code observations are not used in this approach, its performance is not affected by the noise and multipath of code observations. High reliability is another advantage of time-relative precise positioning because the ambiguity resolution is not needed in this approach. Since the data link is not required in the method, this approach has been widely used in remote areas where wireless data link is not available. The main limitation of time-relative positioning is that its accuracy degrades over time between epochs because of the temporal variation of various errors. The application of the approach is usually limited to be within a time interval of less than 20 min. The purpose of this study was to increase the time interval of time-relative positioning and to extend the use of this method to applications with a longer time requirement, especially in remote areas without wireless communication. In this paper, the main error sources of the time-relative method are first analyzed in detail, and then the approach to improve the accumulated time relative positioning method is proposed. The performance of the proposed method is assessed using both static and dynamic observations with a duration as long as several hours. The experiments presented in this paper show that, among the four scenarios tested (i.e., GPS, GPS/Galileo, GPS/Galileo/BeiDou, and GPS/Galileo/BeiDou/GLONASS), GPS/Galileo/BeiDou performed best and GPS/Galileo/BeiDou/GLONASS performed worst. The maximum positioning errors were mostly within 0.5 m in the horizontal direction, even after three hours with GPS/Galileo/BeiDou. It is expected that the method could be used for positioning and navigation for as long as several hours with decimeter level horizontal accuracy in remote areas without wireless communication.

Study on Optimal Broadcast Ephemeris Parameters for GEO/IGSO Navigation Satellites.

This paper proposes new sets of suitable broadcast ephemeris parameters for geosynchronous (GEO) and inclined geosynchronous (IGSO) navigation satellites (NSs). Despite the increasing number of GEO and IGSO NSs, global positioning system (GPS)-type ephemeris parameters are still widely used for them. In an effort to provide higher fit accuracy, we analyze a variety of broadcast ephemeris parameters for GEO and IGSO satellites along with their orbital characteristics and propose optimal sets of parameters. Nonsingular elements and orbital plane rotation are adopted for alleviating/avoiding the singularity issues of GEO satellites. On the basis of 16 parameters of GPS LNAV, we add one to four parameters out of 28 correction ones to determine optimal sets of ephemeris parameters providing higher accuracy. All possible parameter sets are tested with the least-square curve fit for four BeiDou GEOs and six BeiDou IGSOs. Their fit accuracies are compared to determine the optimal broadcast ephemeris parameters that provide minimum fit errors. The set of optimal ephemeris parameters depends on the type of orbit. User range error (URE) accuracies of the proposed optimal ephemeris parameters ensure results within 2.4 cm for IGSO and 3.8 cm for GEO NSs. Moreover, the experimental results present common parameter sets for both IGSO and GEO for compatibility and uniformity. Compared with four conventional/well-known sets of ephemeris parameters for BeiDou, our proposed parameters can enhance accuracies of up to 34.5% in terms of URE. We also apply the proposed optimal parameter sets to one GEO and three IGSO satellites of QZSS. The effects of fitting intervals, number of parameters, total bits, and orbit types on the fit accuracy are addressed in detail.

Signal in Space Error and Ephemeris Validity Time Evaluation of Milena and Doresa Galileo Satellites.

In August 2016, Milena (E14) and Doresa (E18) satellites started to broadcast ephemeris in navigation message for testing purposes. If these satellites could be used, an improvement in the position accuracy would be achieved. A small error in the ephemeris would impact the accuracy of positioning up to ±2.5 m, thus orbit error must be assessed. The ephemeris quality was evaluated by calculating the SISEorbit (in orbit Signal In Space Error) using six different ephemeris validity time thresholds (14,400 s, 10,800 s, 7200 s, 3600 s, 1800 s, and 900 s). Two different periods of 2018 were analyzed by using IGS products: DOYs 52-71 and DOYs 172-191. For the first period, two different types of ephemeris were used: those received in IGS YEL2 station and the BRDM ones. Milena (E14) and Doresa (E18) satellites show a higher SISEorbit than the others. If validity time is reduced, the SISEorbit RMS of Milena (E14) and Doresa (E18) greatly decreases differently from the other satellites, for which the improvement, although present, is small. Milena (E14) and Doresa (E18) reach a SISEorbit RMS of about 1 m (comparable to that of the other Galileo satellites reach with the nominal validity time) when validity time of 1800 s is used. Therefore, using this threshold, the two satellites could be used to improve single point positioning accuracy.

BeiDou Satellite Unhealthy States and the Impact on System Performance.

The BeiDou system satellites may be unhealthy due to many reasons, affecting system performance in different ways. Therefore, it is important to analyze the causes and characteristics of the satellites' unhealthy states. In this study, these states are classified into five types based on the broadcast ephemeris. Three criteria are presented, based on which a general classification method is proposed. Data from July 2017 to June 2018 are analyzed to validate the method, from which we know that the average unhealthy duration due to satellite maneuvers is much longer than the duration of unhealthy states related to satellite orbit or clock anomalies, and the other unhealthy states may be caused by inbound or outbound satellites. Statistics show that most of the time, the number of unhealthy satellites is no more than two and the average positioning accuracy in the service area will decrease by no more than 0.75 and 1.2 meters when one or two BDS satellites are unhealthy, respectively.

A Robust Method to Detect BeiDou Navigation Satellite System Orbit Maneuvering/Anomalies and Its Applications to Precise Orbit Determination.

The failure to detect anomalies and maneuvering of the orbits of navigation satellite sensors will deteriorate the performance of positioning and orbit determination. Motivated by the influence of the frequent maneuvering of BDS GEO and IGSO satellites, this paper analyzes the limitations of existing methods, where BDS orbit maneuvering and anomalies can be detected, and develops a method to solve this problem based on the RMS model of orbit mutual differences proposed in this paper. The performance of this method was assessed by comparison with the health flag of broadcast ephemeris, precise orbit products of GFZ, the O-C values of a GNSS station and a conventional method. The results show that the performance of the method developed in this paper is better than that of the conventional method when the periodicity and trend items are obvious. Meanwhile, three additional verification results show that the method developed in this paper can find error information in the merged broadcast ephemeris provided by iGMAS. Furthermore, from the testing results, it can be seen that the detection of anomaly and maneuvering items do not affect each other based on the robust thresholds constructed in this paper. In addition, the precise orbit of the maneuvering satellites can be determined under the circumstances that the maneuver information detected in this paper is used, and the root mean square (RMS) of orbit overlap comparison for GEO-03/IGSO-03 in Radial, Along, Cross, 1D-RMS are 0.7614/0.4460 m, 1.8901/0.3687 m, 0.3392/0.2069 m, 2.0657/0.6145 m, respectively.