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Analysis of estimated satellite clock biases and their effects on precise point positioning

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Abstract

This study provides a systemic analysis to identify the biases in estimated satellite clocks and illustrates their effects in precise point positioning (PPP). First, the precise satellite clock estimation method considering pseudorange and carrier phase hardware delays is derived. Two methods for satellite clock estimation are compared, and their equivalency is discussed. The results show that apart from the well-known constant code hardware biases, the time-variant phase hardware biases are also absorbed by the estimated clocks. Also, the satellite clocks contain biases caused by modeling errors. To analyze the effects of these biases, they are grouped into initial clock biases (ICBs) and time-dependent biases (TDBs). Then, a detailed analysis of the impact of the biases on PPP-based troposphere and coordinate estimates is conducted. The experimental analysis demonstrates that TDBs affect positioning and tropospheric estimates, and their impacts are more significant in the static mode. The ICBs affect coordinate accuracy, zenith total delay mean bias, and its standard deviations only at the millimeter level for kinematic and static PPP, which is negligible. However, the ICBs affect the convergence period for both static and real kinematic PPP, and the magnitude of their impact largely depends on data quality. Note that satellites clocks are generally estimated with the P1/P2 and L1/L2 ionospheric-free combinations, and that hardware-specific parts of ICBs and TDBs cancel if users employ the same type of observables as the clock providers. Otherwise, the effects of biases cannot be ignored, especially for triple-frequency applications. Also, modeling-specific parts of ICBs and TDBs are significant in real-time clocks, which also affect user applications. Our conclusion is applicable for understanding the effects of these biases.

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Acknowledgements

The precise satellite clocks are estimated based on an improved G-Nut software library (Vaclavovic et al. 2013). The PPP experiment is conducted based on the open-source software RTKLIB (Takasu and Yasuda 2009). This work is partially supported by the National Science Fund for Distinguished Young Scholars (No. 41525014), National 973 Program of China (No. 2012CB957701), National Natural Science Foundation of China (No. 41074008), Research Fund for the Doctoral Program of Higher Education of China (No. 20120141110025), and Non-profit Industry Financial Program of MWR (No. 201401072). The authors thank the IGS for providing the data. The authors also thank two anonymous reviewers for their patience and constructive comments that significantly improve the paper quality.

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Authors and Affiliations

  1. GNSS Research Center, Wuhan University, No. 129 Luoyu Road, Wuhan, 430079, China

    Shirong Ye, Lewen Zhao, Jia Song, Dezhong Chen & Weiping Jiang

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  1. Shirong Ye
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  2. Lewen Zhao
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  3. Jia Song
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  4. Dezhong Chen
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Correspondence to Lewen Zhao.

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Ye, S., Zhao, L., Song, J. et al. Analysis of estimated satellite clock biases and their effects on precise point positioning. GPS Solut 22, 16 (2018). https://doi.org/10.1007/s10291-017-0680-z

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