Augmenting GPS RTK with Regional BeiDou in
North America
J. Dou, K. O’Keefe,
Position Location And Navigation (PLAN) Group,
Department of Geomatics Engineering,
University of Calgary
BIOGRAPHIES
Jingjing Dou is a M.Sc. Candidate in the Position,
Location and Navigation (PLAN) Group of the
Department of Geomatics Engineering at the University
of Calgary. She received her B.Sc. in 2009 and has
worked with GNSS-based navigation since 2009. Her
research interest is precise positioning using integrated
GPS/BeiDou RTK.
Kyle O’Keefe is an Assistant Professor of Geomatics
Engineering at the University of Calgary. He completed
PhD and BSc. degrees in the same department in 2004
and 2000. He has worked in positioning and navigation
research since 1996 and in satellite navigation since 1998.
His major research interests have been in GNSS system
simulation and assessment, space applications of GNSS,
carrier phase positioning, and local and indoor positioning
with ground based ranging systems.
ABSTRACT
The BeiDou Navigation Satellite System (BeiDou system)
Signal-In-Space Interface Control Document (ICD) was
published in December 2012 and deployment of the initial
BeiDou regional navigation satellite system consisting of
14 satellites has now been completed. A tremendous
amount of research has been conducted to evaluate the
performance of the BeiDou system. However, the focus
has been generally on pseudorange measurements, thus
limiting obtainable positioning accuracy to the order of
tens of meters. Moreover, most of the research has been
with respect to the Asia Pacific region which fails to
illustrate the performance of the regional BeiDou system
globally. The purpose of this paper is to assess and
demonstrate the usefulness of GPS/BeiDou combined
RTK for users in North America by analyzing availability
and accuracy, then demonstrating GPS/BeiDou RTK with
real data. Real data is obtained using a software receiver
developed at the University of Calgary. Results of the test
conducted in an open sky environment are then presented
and analyzed to compare GPS and the combined
GPS/BeiDou system. These preliminary results indicate
the faster float ambiguity convergence with using a
ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013
GPS/BeiDou system even with only two available
BeiDou satellites.
INTRODUCTION
China is now developing its own independent global
navigation satellite system which is called the BeiDou
Navigation Satellite System. The Interface Control
Document (ICD) was published in December 2012 and
the deployment of the first phase of BeiDou global
navigation satellite system consisting 14 satellites has
been completed. The BeiDou regional navigation satellite
system is also known as the first phase of the BeiDou
global navigation satellite system. A considerable amount
of research has been conducted to evaluate the
performance of the BeiDou system. However, the focus
has been generally on pseudorange measurements, thus
limiting obtainable positioning accuracy to the order of
tens of meters. Moreover, most of the research has been
with respect to the Asia Pacific region which fails to
illustrate the performance of the regional BeiDou system
globally.
In contrast, the real time kinematic (RTK) positioning
capability (i.e., centimeter-level) of the BeiDou system
has not received as much attention, even though many
applications require, or could benefit from, such high
positioning accuracy. Applications of RTK positioning
include precise relative positioning of two vehicles,
precise relative motion over time and enhanced personal
navigation accuracy. Unfortunately, RTK positioning is
effectively impossible using the standalone BeiDou
system anywhere outside the Asia Pacific region (e.g.,
The America, Europe and Africa) due to the limited
number of visible BeiDou satellites. According to current
BeiDou ephemerides, during limited times, three or four
Medium Earth Orbit (MEO) satellites can be
simultaneously tracked in North America while none of
the Geostationary (GEO) satellites are visible. This is in
contrast to the Asia Pacific region, where typically ten
BeiDou satellites are visible at any given time. However,
RTK positioning based on both the Global Positioning
System (GPS) and the BeiDou system could be attempted
in North America and might have advantages over using
GPS alone.
Page 1/9
In this paper, the BeiDou regional system is introduced
briefly. Geometry-based carrier phase position and float
ambiguity estimation algorithms using stand-alone GPS
and the combined GPS/BeiDou system are described in
detail. Definitions and measures of availability and
accuracy are reviewed and clarified. These include
Dilution of Precision to assess solution geometry,
estimated position and float ambiguity.
Real data is collected using GSNRx™, a software
receiver developed at the University of Calgary that has
just recently been modified to acquire and track BeiDou
B1, B2 and B3 signals. Results of a test conducted in an
open sky environment are presented and analyzed to
compare GPS and the combined GPS/BeiDou system.
The results will serve as a counterpoint for the analysis of
the BeiDou system that is currently being conducted in
the Asia Pacific region by others and will play an
important role in evaluating the global performance of the
combined GPS/BeiDou system for high precision
applications.
THE BEIDOU SYSTEM
In a quest for independence, China has pursued the build-
up of its own satellite navigation system which is called
the BeiDou Navigation Satellite System for more than a
decade. BeiDou is the Chinese for of the constellation of
Big Dipper or Great Bear. There have been two
generations of the BeiDou system. The first generation,
called BeiDou-I, was a demonstration system. BeiDou-I
was a regional system consisting of two geostationary
(GEO) satellites and one backup satellite. The first
generation was completed in 2003. In contrast to BeiDou-
I system with regional coverage, BeiDou-II (also known
as Compass) was conceived as a Global Navigation
Satellite system (GNSS) like the GPS, GLONASS, and
Galileo systems. It includes two phases. The first phase
comprises of 14 satellites has and has been completed as
of the end of 2012. The second phase which will complete
the full global constellation is expected in 2020. The
BeiDou-II system will provide two services. An open
service free to civilian users with positioning accuracy of
10m, timing accuracy of 20ns and velocity accuracy of
0.2m/s and an. authorized service to ensure more precise
and reliable use.
The BeiDou Signal-In-Space Interface Control Document
was released in December 2012 which is a significant
milestone that facilitates global acceptance of BeiDou
into GNSS.
In contrast to other GNSSs, BeiDou-II consists of
satellites in three types of orbit: Medium Earth Orbit
(MEO), Inclined Geosynchronous Satellite Orbit (IGSO)
and Geostationary Earth Orbit (GEO) as shown in Figure
1 (Chen, 2013). The Medium Earth Orbit has altitude of
about 22,000 km, inclination of 55o, and a period of
12h53m. MEO is comparable to the GPS, GLONASS and
Galileo orbits. The Inclined Geosynchronous Satellite
ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013
orbits have an altitude of about 35,787km, inclination of
55 o, and eccentricity e< 0.003. The period is 23h56m
resulting in a daily repeat ground track shaped like a
symmetric figure of eight. The Geostationary Earth Orbit
satellites also have an altitude of 35,787km with no
inclination, resulting in almost constant positions in the
Earth-fixed system. According to the BeiDou ICD, when
fully deployed, the constellation will consist of 27
Medium Earth Orbit (MEO) satellites, 3 Inclined
Geosynchronous Satellite Orbit (IGSO) satellites and 5
Geostationary Earth Orbit (GEO) satellites. This contrasts
with the current constellation that consists of 4 MEO, 5
IGSO and 5 GEO satellites.
Figure 1 BeiDou-II GEO and IGSO
The BeiDou system uses the China Coordinate System
2000 (CGCS2000). It coincides with ITRF at the
centimeter level. For most of the applications the
difference between these two systems can be ignored.
BeiDou Time is related to UTC and the offset with
respect to UTC is controlled within 100 ns. Like GPS,leap
seconds are broadcast in the navigation message.
(Odolinski et al. 2013)
BeiDou signals are based on CDMA. All BeiDou
satellites transmit triple-frequency navigation signals as
shown in the following table (Steigenberger et al. 2013).
The B1 band is close to the GPS L1 frequency of
1575.42MHz and the B2 frequency is identical to Galileo
E5b. The B3 band is close to Galileo E6 with frequency
of 1268.52MHz. We can see that no BeiDou frequencies
overlap the GPS frequencies, and thus no Inter-system-
bias parameterizations are needed (Odijik and Teunissen,
2013). The ICD only contains the information on the B1
frequency. Tracking of the B2 and B3 signals to date has
only possible due to knowledge about the signal structure
and ranging codes obtained from analyses conducted with
high-gain antennas (Gao et al. 2009)
Page 2/9
 Table 1 Frequency bands of BeiDou satellite
Band Freq. (MHz) Comment
B1 1,561.098 Close to GPS L1
B2 1,207.14 Same as Galileo
E5b
B3 1,268.52 Close to Galileo
E6
Similar to other GNSSs, BeiDou provides the service of
navigation, positioning and timing. In addition, the
BeiDou system has an uplink capability that enables
positioning, communication and short message
transmission. User positioning information can be sent to
others without requiring ground-based mobile or satellite
telephone signals which is useful for search and rescue
operations and short messages can be transmitted through
the satellites which will benefit marine and field
applications. Adding BeiDou to the current GNSS
systems will definitely enhance the availability to global
users.
BEIDOU RTK OVERVIEW
Tremendous research has been conducted with the
BeiDou system to illustrate its performance. Some RTK
implementations have already been demonstrated,
although only in China or the Asia Pacific region. Before
evaluating the RTK performance available by adding
BeiDou to current GPS in North America, it is valuable to
review recently reported results.
Almost all reported BeiDou RTK results involve work in
= ∆φgps
China and the Asia Pacific region. Among Chinese
researchers Shi et al. (2012a) published the first quality
analysis of BeiDou-II measurements in the world = using ∆φbeidou
real data collected in Wuhan, China just after the release
of the ICD. The noise level of code and phase
measurements is analyzed. In addition, kinematic short
baseline solutions using code plus phase measurements
were implemented showing the precision of the
standalone BeiDou system is better than 4cm while the
accuracy of a GPS/BeiDou combined solution was 20%
better than GPS alone. In the same year, results of static
PPP and kinematic RTK positioning with BeiDou are
given in another publication by the same group (C. Shi et
al (2012b). The accuracy of Kinematic RTK was found to
be within 5-10cm. Later, single- epoch BeiDou carrier
phase ambiguity resolution using three civil frequencies
was firstly proposed by J. Qu et al. (2012) and differential
carrier-phase positioning performance in both static and
kinematic scenarios using single frequency and dual
frequency measurements was presented by Y. Yang et al.
(2013). Finally, static single epoch dual frequency carrier
ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013
phase positioning with BeiDou alone and GPS/BeiDou
was compared by J. Li et al. (2013).
There have also been a limited number of results
published by researchers outside of China. The first
analysis of BeiDou-II using real data outside China is
given in Montenbruck et al. (2012a, b) which illustrates
short baseline relative positioning and PPP using three
frequencies in the Asia Pacific region. Steigenberger et al.
(2012, 2013) analyzes orbit determination of BeiDou-II
and PPP with BeiDou-II and analysis of combined GPS
and BeiDou RTK positioning is reported by Odolinski et
al. (2013) for single frequency, single epoch RTK using
B1 and L1 in Australia.
In industry, almost all navigation companies (South, Hi
Target, ComNav, Unicorecomm, Unistrong) in China
produce a hardware receiver that can perform BeiDou
RTK positioning. Some companies outside China,
including, but not limited to, Timble, NovAtel, Leica and
U-blox have receivers can track BeiDou signals and
provide positioning results. Trimble and Leica have
products that support BeiDou RTK.
RTK METHODOLOGY
GPS and BeiDou use code division multiple access
(CDMA), which allows signals from different satellites to
be transmitted on a common frequency. Phase
measurements made by two different receivers on a single
satellite can easily be differenced. Such a single
difference is usually denoted by ∆ . In the case of a short
baseline, the differential errors (orbit, troposphere,
ionosphere, etc.) are negligible. The between-receiver
single-difference measurement model is as follows.
∆Rgps + c∆dt gps + c∆dt
+ ∆N gps + ε φ
λL1
∆Rbeidou + c∆dtbeidou + c∆dt
+ ∆N beidou + ε φ
λB1
where
∆φ is the SD phase in units of cycles,
∆R is the SD range in units of distance,
c is the speed of light,
∆dt is the SD receiver clock offset in
units of time,
∆dt is the SD receiver clock drift in units of
frequency,
λ is the carrier wavelength,
∆N is single difference ambiguity in units of
cycles, and
ε φ is the phase error term, which includes
multipath and residual differential errors
Page 3/9
In order to estimate the user state and the between
receiver single different ambiguity in a geometry-based
model, the single-difference pseudorange, phase and
Doppler measurements are used in a least squares
estimation or Kalman filter. In both cases the following
state vector is estimated:
where
is the SD state vector,
R is the relative position vector,
is the relative velocity vector,
is the receiver clock offset with GPS,
is the receiver clock offset with
BeiDou,
is the SD receiver clock drift, and
is the vector of SD ambiguities
SYSTEM DESIGN
The proposed RTK algorithm is conducted on the basis of
software receiver developed at the University of Calgary
that has just recently been modified to track BeiDou B1,
B2, B3 signals. The flow chart of the system is as shown
below. The satellite signal is collected from antenna
trough NI Front End to obtain inter mediate frequency
samples. Afterwards, GSNRxTM (GNSS Software
Navigation Receiver) is used to acquire and track
incoming signals and generate measurements for use in
other data processing software. GSNRx is a C++ class-
based GNSS receiver software program developed by the
PLAN Group capable of post-mission processing of raw
data samples from a GNSS front-end. Finally, the
navigation solution will be obtained through PLANSoftTM
which is a GNSS differential real-time kinematic (RTK)
software. The SD float solution, double-differencing float
solution and fixed solution can be calculated using this
software.

As shown above, the float solution and single difference

ambiguities can be estimated as real valued numbers.
consists of single difference ambiguities of both GPS and
BeiDou satellites. It should be noted that there is one
more between receiver clock offset with the addition of
BeiDou to allow for different receiver biases for each
system. Once the float solution has been solved, the state
vector can be transformed into double differenced (DD)
form and the receiver clock offsets and drift will be
eliminated by the inter-satellite differencing. The need for
a separate BeiDou clock offset could be removed by
calibration, however double-differencing between GPS
L1 and BeiDou B1 would not be used to eliminate the
offset due to L1 and B1 having different carrier
frequencies. When the single-differenced ambiguities are
transformed into the DD domain the resulting double
differenced state vector is:

where
is the DD state vector
is the vector of DD ambiguities

Once double differenced ambiguities are obtained, any

common clock offset remaining in the ambiguities is
removed and an integer ambiguity method, for example
LAMBDA, can be used to resolve the ambiguities to
integers if possible and a fixed solution can be obtained
The above RTK methodology is implemented in the
PLANSoftTM processing software (Ong et al, 2009)
developed by the University of Calgary. In this paper, Figure 2 System Design of GPS/BeiDou RTK
single difference solutions will be calculated and analyzed
as a preliminary result.

ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013 Page 4/9
TEST DESCRIPTION
In order to test the augmentation of adding BeiDou to
GPS in North America, a small set of data was collected
in Calgary, Canada. The detailed data collection
information is listed below. Data was collected using two
NovAtel 702GG Antennas and two National Instruments
PXIe-1065 and PXIe-1075 front ends. A total of four
channels were utilized to capture GPS L1 of base station,
BeiDou B1 of base station, GPS L1 of rover and BeiDou
B1 of rover respectively. The antennas were located on
the roof the CCIT building at the University of Calgary,
Canada. A complete open sky view was available which
allowed tracking of as many satellites as possible. The
baseline length was approximately 8 meters which allows
almost all spatially correlated errors to be eliminated
through between receiver single differencing. A snapshot
of the data collection is shown in Figure 3.
Figure 3 Data collection
(open sky, static, short baseline)
GPS and BeiDou intermediate frequency samples were
acquired and tracked in GSNRxTM. a software based
receiver developed at the University of Calgary. The
result was a short set of measurements and ephemerides.
ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013
Figure 4 GSNRx processing snapshot
RTK processing was implemented in post-mission, but
with all algorithms implemented in real-time (i.e. only
forward processing is used). The following parameters
and settings are used for RTK processing.
• GPS Code standard deviation: 0.5m
• GPS Doppler standard deviation: 0.1Hz
• GPS Phase standard deviation: 0.02 cycles
• BeiDou Code standard deviation: 0.5m
• BeiDou Doppler standard deviation: 0.1Hz
• BeiDou Phase standard deviation: 0.02 cycles
• Elevation mask: 5.0 degree
• PDOP threshold: 20.0
• Blunder detection significance level: 0.1%
• Phase solution type: L1+B1
• Phase rate cycle slip threshold: 4 cycles
• Data rate: 1 Hz
TEST RESULTS
Results shown include availability, float position
accuracy, and float ambiguity convergence. Availability is
the percentage of time that satellites are usable. The
number of GPS satellites and BeiDou satellites through
time span will be given and analyzed. Dilution of
Precision (DOP) is how measurement precision is diluted
into estimated states precision. It is calculated based on
the covariance matrix of the state vector. In our case,
Position DOP (PDOP) will be illustrated.
σ N2 + σ E2 + σ U2 = σ 0 × PDOP
where
σ N , E ,U is the standard deviation of state in each
direction
σ 0 is the a priori variance factor of the
measurements
Figure 5 shows the PDOP and the number of available
GPS and BeiDou satellites during the 3 minute test. The
GPS plus BeiDou combined system is denoted as G/B in
the following discussion unless otherwise stated. There
are 1 or 2 BeiDou satellites available during the three
minute test, while 6 or 7 GPS satellites are available. The
Page 5/9
PDOP can be improved only when there are two BeiDou Table 2 Accuracy Statistics
satellites available. When only one BeiDou measurement GPS only G/B
is available, it is used only estimate the BeiDou clock Direction Time Mean RMS Mean RMS
offset and as a result does not affect the positioning (cm) (cm) (cm) (cm)
geometry.
1st
Number of Available Satellites minute -33.70 38.08 -32.85 37.31
10

2nd
N
# of SV

5 G/B minute -6.75 13.47 -6.97 13.59

GPS
Beidou

0
3rd
20 40 60 80 100 120 140 160 180
minute 6.95 13.41 6.78 13.34
PDOP
3.4
GPS 1st
3.2 G/B minute 32.78 42.16 37.66 47.46
PDOP

2.8 E 2nd
2.6
minute -13.36 15.30 -12.88 14.73
20 40 60 80 100 120 140 160 180
time [s]
3rd
Figure 5 Availability and Geometry minute -26.87 28.38 -26.75 28.26
Figure 6 presents the positioning errors of a single
1st
differenced float solutions in the North, East and Up
minute 130.74 135.66 124.69 129.27
directions. The estimated positions with GPS only and
G/B converge to similar values. But obvious differences
U 2nd
can be observed at the very beginning which is illustrated
minute 76.01 76.32 75.74 76.04
in Table 2.
3rd
1
Float Positioning Errors GPS only minute 36.04 38.07 36.10 38.12
G/B
N error [m]

0
In this table, the mean and the root mean square (RMS)
-1
20 40 60 80 100 120 140 160 180 error of the position errors are shown for each minute.
There is an obvious improvement in terms of RMS error
1 with BeiDou added in the first minute in the North and
E error [m]

0 Up direction, while in the second and third minutes, the

-1 improvement is very slight. In this sense, the BeiDou
20 40 60 80 100 120 140 160 180
system can contribute to improving the accuracy and to
2
speeding up the converging time of the solution. However
U error [m]

the additional one or two BeiDou satellites have almost

1
no effect after three minutes.
0
20 40 60 80 100 120 140 160 180
Time [s]
In order to evaluate the measurement errors, the single
difference pseudorange and phase residuals are shown in
Figure 6 SD-Rx Float Positioning Errors Figures 7 and 8. The magnitude of BeiDou code residuals
is similar to those from GPS. However, the phase
residuals of BeiDou are obviously larger than the GPS
phase residuals.

ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013 Page 6/9
 SD-Rx Pseudorange Residuals GPS PRN2 clock drift varies within 0.4 m/s. In order to observe the
8
GPS PRN5 clock offset clearly, the first figure is zoomed in Figure
GPS PRN10
GPS PRN12 11. The two clock offsets are parallel to each other with
6
GPS PRN25 an intersystem clock bias due to inter-channel and inter-
GPS PRN29
GPS PRN31 frequency delays in the front ends used to gather the
4 BeiDou7 samples. This effect is not due to the actually between
Residuals [m]

BeiDou13
system time offset, since this will have cancelled in the
2
between receiver single difference.

0
SD-Rx Clock Offsets
500
GPS

Clock Offset[m]
-2 0 Beidou

-500
-4
20 40 60 80 100 120 140 160 180 -1000
Time [s]
-1500
Figure 7 SD-Rx Pseudorange Residuals 20 40 60 80 100 120 140 160 180

SD-Rx Phase Residuals SD-Rx Clock Drift

200 -8.6

Clock Drift[m/s]
150 -8.8

100
-9

50
Residuals [mm]

-9.2
20 40 60 80 100 120 140 160 180
0 Time [s]

-50
Figure 10 SD-Rx Clock Estimation

-100

SD-Rx Clock Offsets (zoomed in)

-150 -315
GPS
-200 Beidou
20 40 60 80 100 120 140 160 180 -320
Time [s]

Figure 8 SD-Rx Phase Residuals -325

Clock Offset[m]

-330
Histograms and fitted normal distributions are shown in
Figure 9 from which we can see that GPS residuals are -335
better than BeiDou, especially for the phase
measurements. It should be noted however that there are -340
more samples in the GPS plots.
-345

GPS SD code residuals BeiDou SD code residuals

Mean=0.09 m Std=1.59 m Mean=-0.53 m Std=0.96 m -350
150 20 55.5 56 56.5 57 57.5 58
Time [s]
15
Frequency

Frequency

100
Figure 11 SD-Rx Clock offsets
10
50
5

0 0
-5 0 5 -5 0 5 The GPS SD float ambiguities are estimated based on
Residuals [m] Residuals [m]
GPS SD phase residuals BeiDou SD phase residuals
GPS only system and G/B system and are plotted in
Mean=1.16 mm Std=29.89 mm Mean=22.49 mm Std=217.13 mm Figure 12. The float ambiguities of PRN 10 are zoomed in
200 80
as an example for analysis. Two facts can be observed:
150 60
The float ambiguities of both the GPS only system and
Frequency

Frequency

100 40
G/B system converge to one or two integer values which
50 20
will allow the ambiguities to be fixed within a limited
0
-200 -100 0 100 200
0
-200 -100 0 100 200
search space. At the beginning, the float ambiguities of
Residuals [mm] Residuals [mm] G/B system are closer to the final ambiguities which may
Figure 9 SD-Rx measurement residual distributions result in faster ambiguity fixing before convergence.

The BeiDou SD-Rx float ambiguities are shown in Figure

The SD clock offsets corresponding to GPS and BeiDou 14. A cycle slip one of the phase measurements while a
and the common clock drift are estimated and shown in loss of lock affects the other. Both of these problems still
Figure 10. From the lower plot, it is observable that the need to be resolved.

ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013 Page 7/9
 SD-Rx BeiDou ambiguities
-7090
SD-Rx GPS float GPS

SD-Rx AMB [cycles]

ambiguities GPS+Beidou
9812 -7095

9810 -7100
PRN 2
9808 -7105
0 20 40 60 80 100 120 140 160 180 200
4 -7110
x 10 0 20 40 60 80 100 120 140 160 180
-2.7015

5
-2.702 x 10
0
PRN 5

SD-Rx AMB [cycles]

-2.7025
0 20 40 60 80 100 120 140 160 180 200
-2

7678
-4
7676
PRN 10
-6
7674 0 20 40 60 80 100 120 140 160 180 200
0 20 40 60 80 100 120 140 160 180 200
Time [s]
4
] x 10
2.337
Figure 14 SD-Rx BeiDou ambiguities
cy[
cl 2.3365
PRN 12
es

-R 2.336
x
A
S
0 20 40 60 80 100 120 140 160 180 200 CONCLUSIONS
m
D
b -1590

-1595 In this contribution, a GPS/BeiDou RTK methodology is

PRN 25 presented and evaluated. The algorithm is based on
-1600
0 20 40 60 80 100 120 140 160 180 200 single-differenced phase parameterization that eliminates
4

-2.645
x 10 the spatially correlated errors while retaining between
receiver clock effects. The solution is implemented using
-2.646
PRN 29 code, phase and Doppler measurements. A short test is
-2.647
0 20 40 60 80 100 120 140 160 180 200
conducted where two BeiDou satellites are briefly
available. The results indicate the addition of two BeiDou
-1440
satellites improves the availability and the geometry
-1450 effectively, and slightly improves the float positioning is
PRN 31
improved, especially at the beginning of processing.
-1460
0 20 40 60 80 100 120 140 160 180 200 There is an inter-system receiver clock bias between GPS
Time [s]
and BeiDou. The next step is to attempt to fix ambiguities
Figure 12 SD-Rx GPS Float ambiguities and then continue to test the method in more scenarios
where BeiDou satellites are available in North America.
SD-Rx ambiguities (GPS PRN10)
7677

7676.5
REFERENCES
GPS
7676 GPS+Beidou
Chen, H. (2013) Plot of BDS GEO and IGSO,
SD-Rx AMB[cycles]

http://blog.sciencenet.cn/home.php?mod=space&uid=829
7675.5
263&do=blog&id=719435.

7675 Li, J, Y. Yang, J. Xu, H. He, H. Guo and A. Wang (2013)

Performance Analysis of Single-Epoch Dual-Frequency
7674.5 RTK by BeiDou Navigation Satellite System, China
Satellite Navigation Conference, 133-144.
7674
0 20 40 60 80 100 120 140 160 180 200
Time[s] Montenbruck, O., A. Hauschild, P. Steigenberger, U.
Figure 13 SD-Rx Float ambiguities (GPS PRN10) Hugentobler, P.J.G. Teunissen, S. Nakamura (2012a)
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10.1007/s10291-02-0272-x.

Montenbruck, O., A. Hauschild, P. Steigenberger, U.

Hugentobler, and S. Riley (2012b) A COMPASS for Asia:
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System. IGS Workshop 2012, July 23-27, Olsztyn,
Austria, 2012.

ION GNSS+ 2013, Session A6, Nashville, TN, 16-20 September 2013 Page 8/9
Ong, R.B, M. G. Petovello and G. Lachapelle (2009)
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