Abstract
The intra-system biases, including differential code biases (DCBs) and differential phase biases (DPBs), are generally defined as the receiver-dependent hardware delays between different frequencies in a single global navigation satellite system (GNSS) constellation. Likewise, the inter-system biases (ISBs) are the differential code and phase hardware delays between different GNSSs, which are of great relevance for combined processing of multi-GNSS and multi-frequency observations. Although the two biases are usually assumed to remain unchanged for at least 1 day, they sometimes can exhibit remarkable intraday variability, likely due to environmental factors, particularly the ambient temperature. It has been proved that the possible short-term temporal variations of receiver DCBs and DPBs are directly related to ambient temperature fluctuation. We analyze whether the variability of the biases is sensitive to temperature and further identify how this affects the performance of real-time kinematic (RTK) positioning. Our numerical tests, carried out using GPS, BDS-3, Galileo and QZSS observations collected by zero and short baselines, suggest two major findings. First, we found that while ISBs associated with overlapping frequencies are fairly stable, those associated with non-overlapping frequencies can exhibit remarkable variability over a rather short period of time, driven by the changes of ambient temperature. Second, by pre-calibrating and modeling of the biases for the baselines at hand, the empirical success rates and positioning performance can be significantly improved when compared to classical and inter-system differencing, with both models assuming time-invariant receiver DCBs, DPBs and ISBs.
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Data availability
The raw data were provided by the GNSS Application and Research Group at the Institute of Geodesy and Geophysics at the Chinese Academy of Sciences in Wuhan. The raw data used during the study are available from the corresponding author by request.
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Acknowledgements
This work was partially funded by the National Natural Science Foundation of China (Grant No. 41774042), the Scientific Instrument Developing Project of the Chinese Academy of Sciences (Grant No. YJKYYQ20190063), the BDS Industrialization Project (Grant No. GFZX030302030201-2) and the National Key Research Program of China Collaborative Precision Positioning Project (Grant No. 2016YFB0501900). The second author was supported by the CAS Pioneer Hundred Talents Program.
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Mi, X., Zhang, B., Odolinski, R. et al. On the temperature sensitivity of multi-GNSS intra- and inter-system biases and the impact on RTK positioning. GPS Solut 24, 112 (2020). https://doi.org/10.1007/s10291-020-01027-5
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DOI: https://doi.org/10.1007/s10291-020-01027-5