Ambiguity fixing in real-time PPP Determination of uncalibrated phase delays using a regional network

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1 10 Vermessung & Geonformaton +/015, P , 9 Fgs. Ambguty fxng n real-tme PPP Determnaton of uncalbrated phase delays usng a regonal network Abstract In the last years real-tme Precse Pont Postonng (PPP) became a well-known GNSS postonng technque whch s nowadays already used for varous applcatons. Combnng precse satellte postons and clock correctons wth zero-dfference observatons from a dual-frequency GNSS recever PPP s able to provde poston solutons at decmeter to centmeter level. However, these correctons are nsuffcent to fx the ambgutes, whch s why PPP stll suffers from long ntalzaton perods untl the soluton converges to the desred accuracy. Ths long convergence tme s one of the most lmtng factors of real-tme PPP wth regard to numerous applcatons. Ths contrbuton shall gve an overvew on the work performed n the research project PPPServe (funded by the Austran Research Promoton Agency FFG), whch amed at the development of approprate algorthms for real-tme PPP wth specal emphass on the ambguty resoluton of zero-dfference observatons. It shall especally deal wth the process and obstacles of calculatng the so-called wde-lane and narrow-lane phase-delays whch allow PPP-base ambguty fxng n real-tme. Furthermore, the acheved qualty and the temporal stablty of the estmated phase delays as well as the coordnate convergence perod and coordnate qualty acheved at the rover ste wll be dscussed on bass of the most recent results. Keywords: GNSS, Precse Pont Postonng, ambguty fxng, convergence tme Faban Hnterberger, Robert Weber, Wen; Katrn Huber, Roman Lesjak, Graz Kurzfassung In den letzten Jahren hat sch de präzse Enzelpunktbestmmung (PPP) n Echtzet zu ener namhaften Technologe für de Postonsbestmmung mt Hlfe von Globalen Navgatonssatelltensystemen (GNSS) entwckelt, de heutzutage schon für dverse Anwendungen zum Ensatz kommt. Durch de Kombnaton undfferenzerter Beobachtungen enes Zwefrequenz GNSS Empfängers mt präzser Satelltenbahn- und Uhrnformatonen ermöglcht PPP ene Postonsbestmmung m Zentmeter- bs Dezmeterberech. Allerdngs rechen dese Korrekturen ncht aus um de Mehrdeutgketen zu fxeren, weshalb PPP sehr lange Intalserungszeten benötgt, um de gewünschte Postonsgenaugket zu errechen. Dese langen Konvergenzzeten snd n Hnblck auf zahlreche Anwendungen der größte lmterende Faktor von PPP. Deser Betrag soll enen Überblck über das Projekt PPPServe (gefördert durch de österrechsche Forschungsförderungsgesellschaft FFG) geben. Zel deses Projektes war de Entwcklung geegneter Algorthmen für Echtzet PPP mt dem Schwerpunkt der Mehrdeutgketslösung von undfferenzerten Beobachtungen. Deser Betrag beschäftgt sch m spezellen mt dem Prozess und den Problemen be der Berechnung der sogenannten wde-lane und narrow-lane Phasenverzögerungen, welche ene Fxerung der Mehrdeutgketen n Echtzet PPP erlauben. Des Weteren werden de errechte Genaugket und de temporale Stabltät der berechneten Phasenverzögerungen, sowe de Güte der am Rover ermttelten Poston an Hand der aktuellsten Resultate dskutert. Schlüsselwörter: GNSS, Precse Pont Postonng, Mehrdeutgketsfxerung, Konvergenzzet 1. Introducton 1.1 Prncples of PPP Precse Pont Postonng s a GNSS based postonng technque that utlzes undfferenced sngle- or dual-frequency code and phase obs ervatons from a sngle GNSS recever. A precse poston can be determned due to the compensaton for orbt and clock naccuraces by usng precse orbt and clock correctons. The concept of PPP was frst ntroduced n the 1970s by R. R. Anderle, and was characterzed as a sngle staton postonng wth fxed precse orbt solutons and Doppler satellte observatons [1]. Nevertheless, GPS postonng was domnated by relatve technques untl the late 1990 s. Frst nvestgatons usng dual frequency data from a sngle GPS recever for a few cm-postonng n post-processng mode have been publshed by [].

2 F. Hnterberger et al.: Ambguty fxng n real-tme PPP Determnaton of uncalbrated 11 Combnng the precse satellte postons and clocks wth observatons from a dual-frequency GNSS recever (to remove the frst order effect of the onosphere), PPP s able to provde poston solutons at decmeter to centmeter level. The beauty of ths zero-dfference technque s that t does not requre access to observatons from one or more close reference statons accuratelysurveyed. Furthermore t provdes an absolute poston nstead of a relatve locaton as RTK does. The only products requred for PPP are precse orbt and clock data, based on measurements from reference statons from a relatvely sparse staton network (thousands of km apart would suffce). Nevertheless the PPP technque s stll less popular than RTK, snce t requres a longer convergence tme to acheve maxmum performances (n the order of tens of mnutes). Whle n the last years a lot of post-processng servces offerng PPP arose, real-tme PPP s stll n an ncpent development phase due to a lack of precse real-tme products. Only a handful of organzatons, e.g. the IGS real-tme servce, started offerng real-tme products. One of the man challenges wth PPP s the nteger ambguty resoluton. Smple nteger ambguty fxng s prevented by the presence of uncalbrated phase delays (UPDs) orgnatng from oscllator-nduced tme delays of the satellte and the recever. Therefore n PPP usually a real-valued bas s estmated n place of the nteger ambguty. However the estmaton of real-valued ambgutes requres a large convergence perod whch s the most sgnfcant factor lmtng wder adopton of PPP. Accordngly, nteger ambguty resoluton of undfferenced carrer phase observatons s consdered as one of the nnovatve ssues for current GNSS research and applcatons []. k, P fp fp 1 k, 1 k, = = ρ + ct δ + δ + ε (1) k k tro P, f f 1 fl fl 1 k, 1 k, L = = k, f f () k 1 k tro k, L, = ρ + ct δ + δ + λ B + ε where the subscrpt k refers to a recever and subscrpt to a satellte, f 1 and f denote the carrer-frequences of the pseudo-range and phase observatons, r k denotes the geometrc dstance between the satellte and the recever, dt k the recever clock error scaled by the speed of lght c, d tro the slant tropospherc delay, l B k, the IF ambguty scaled by the correspondng wavelength l and e p, and e L, denote the nose of the code and phase measurements, respectvely. Takng the UPDs nto account the IF ambguty parameter B k, can be wrtten n the followng form: B = N + φ φ () k, k, k, wth Df and Df k, beng the transmtter and recever specfc UPDs and N k, beng an nteger number of wavelengths. Usually the UPDs or any lnear combnaton of them are not nteger values, thus prevent the fxng of ambgutes to ntegers. Fgure 1 llustrates an example of a typcal PPP float soluton. It shows the north, east and up poston dfferences (wth respect to the reference poston) of a generated float soluton of the IGS staton Graz-Lustbühel usng dual-frequency data and precse orbt and clock products. As t can be seen after some tens of mnutes the horzontal poston s wthn a few cm whle the heght dfference s at approxmately 1 dm. In Fgure the IF float ambguty of PRN 15 correspondng to the PPP float soluton presented before s shown. Due to the presence of 1. Problems preventng PPP nteger ambguty resoluton In PPP the usual practce when processng dual frequency data s to buld the onosphere-free (IF) lnear combnaton of the pseudo-range P k,1 and P k, and phase observatons L k,1 and L k, n order to elmnate the effect of onosphere. Assumng that the satellte clock and orbt errors are accounted for by usng precse orbt and clock products and that the systematc errors are elmnated the onosphere-free code and phase observaton can be expressed as follows: Fg. 1: Float soluton of staton GRAZ

3 1 Vermessung & Geonformaton +/015 the measurements. The NL phase bases are smlarly determned by averagng the fractonal parts of all NL ambguty estmates derved from the ambgutes and the IF observables. The estmated phase bases can then be appled to ambguty estmates of sngle-recevers to recover ther nteger nature. Fg. : Transent behavor of float ambguty of PRN 15 the phase delays the ambguty estmate lost ts nteger nature. As t s llustrated n the example the ambguty parameters seems to be stable after an ntalzaton tme of 000 epochs (nterval of 1 s). Ths tme s correlated to the ntalzaton tme of the poston soluton.. Project Work To comply wth the aforementoned challenge, the research project Network based GNSS Phase Bases to enhance PPP Applcatons A new Servce Level of GNSS Reference Staton Provder (PPPServe) started n Aprl 01. The project amed at the provson of UPDs whch are the mssng lnk at the user sde to allow for realtme PPP based phase ambguty resoluton. The Technsche Unverstät Wen, Forschungsgruppe Höhere Geodäse (lead), the Graz Unversty of Technology, former Insttute of Navgaton and the former Wen-Energe Stromnetz GmbH contrbuted to ths project whch has been successfully completed n November Concept Durng the last years several approaches to recover the nteger nature of zero-dfference phase ambgutes to perform nteger PPP have been developed (see [4], [5], [6] and [7]). Thereby nteger resoluton s acheved by applyng mproved satellte products where the UPDs are separated from the nteger ambgutes. The concept for the estmaton of the UDPs whch was developed n context of the project s based on an approach called phase recovery from fractonal parts whch was presented n a study of [6] for the frst tme. In ths approach the undfferenced ambgutes are decomposed nto wde-lane and narrow-lane NL ones. Thereby, a satellte-to-satellte sngle-dfference (SD) s used to elmnate the recever-dependent calbraton bases. Wthn a network of reference statons the phase bases are determned from averagng the fractonal parts of all -estmates usng the Melbourne-Wübbena combnaton of Based on the aforementoned approach a fully functonal system consstng of a network-sde and a user-sde module was developed (see Fgure ). The network-sde module allows for the estmaton of and NL UPDs n relaton to one chosen reference satellte usng observatons of a regonal network of GPS statons. These correctons can be used by the user-module that apples the calculated UPDs n a modfed PPP algorthm to enable nteger ambguty resoluton on the bass of wde- and narrow-lane observables. Detals on PPPServe and ts general system overvew can be found n [8].. Server-sde algorthms In the followng especally the algorthms for the estmaton of the and NL UPDs mplemented n the network-sde module wll be presented. As prevously mentoned the UPDs are decomposed nto and NL ones, whch are related to the ambguty parameter of the IF lnear combnaton B k, (see [9]) accordng to B c j cf j = B + B = NL f f f f 1 1 c j, = N + φ j, NL NL f ( )+ f j,,, 1 j, j, ( N φ ) f cf + + f 1. (4) Ths equaton s already gven at the sngle dfference level (dfferences between the satelltes and j) n order to elmnate the recever specfc UPD. Subsequently, the ndex k has been omtted for smplfcaton. The wde-lane part B,j N,j = + Df,j and the narrow-lane part BNL,j NL + DfNL,j both consst of the respectve = N,j nteger ambguty N,j plus the correspondng satellte specfc UPD Df,j orgnatng from oscllator-nduced tme delays of the satellte whle the recever specfc UPD has been elmnated. The and NL UPDs cannot be estmated smultaneously therefore a stepwse estmaton process s appled whch wll be descrbed n the next paragraphs.

4 F. Hnterberger et al.: Ambguty fxng n real-tme PPP Determnaton of uncalbrated 1 Fg. : Concept of the PPPServe System Determnaton of the reference satellte As mentoned above, the parameter estmaton s based on the combnaton of SD observatons. In order to be able to use the SD observatons of all statons for the parameter estmaton t s necessary to choose a common reference satellte. Therefore, a reference satellte must be selected pror to the estmaton of the UPDs. Usng only a regonal network (Fgure 4 llustrates the regonal staton network used by the PPPServe system) smplfes the selecton of the reference satelltes snce the satellte s usually n the feld of vew at most of the statons. To keep t smple the satellte whch s vsble at most of the statons s chosen as reference satellte. Snce data of a regonal network s utlzed the reference satellte has to be changed from tme to tme. Such a change also needs to be consdered n the parameter estmaton. Estmaton of the wde-lane UPDs For the estmaton of the UPDs the Melbourne Wübbena lnear combnaton (MW) of all observatons of the staton network s bult. The Fg. 4: Reference staton network MW combnaton s a lnear combnaton of both, carrer phase (L1 and L) and code (P1 and P) observables. It elmnates the effect of the onosphere, the geom etry, the clocks and the troposphere and provdes a nosy estmaton of the wde-lane ambguty accordng to the followng equaton: L = λ N k, ( + φ φ k, k, )+ ε (5) where l s the wavelength of the combnaton, N k, s the nteger ambguty, Df and Df k, account for the satellte and recever specfc UPDs and e s the measurement nose, ncludng carrer phase and code nose. A major dsadvantage of the MW combnaton s the ncreased measurement nose whch s hghly domnated by the nose of the code measurements whch s slghtly reduced by calculatng the movng average of the MW combnaton. In the next step every possble SD observaton s bult at each staton, by subtractng the observatons of the dfference satelltes from the observaton of the pror chosen reference satellte. Buldng the dfference between two ZD MW observatons (Eq. 5) and dvdng the equaton by the wavelength leads to the followng equaton wth the recever specfc UPD beng elmnated j, j, Lk j, j, B = = N + φ + ε (6) λ where N,j s the SD nteger wde-lane ambguty, Df,j s the satellte specfc SD UPD and e s the measurement nose whch s ncreased by a factor of two due to the bult dfference. Then, the postve fractonal parts of all ambgutes observed are estmated. Fnally the SD UPDs correctons are estmated by combnng the correspondng fractonal parts of the SD ambgutes usng a Kalman flter.

5 14 Vermessung & Geonformaton +/015 The whole procedure s depcted by the followng equaton: j, j, δ φ Kal Frac B ˆ = ( ) ( ) (7) where ddf,j denotes the estmated SD UPD correcton, Frac() s a functon to return the fractonal part, Kal() denotes the Kalman flter,j and ^B denotes the SD ambgutes observed at the statons. One must be aware that each UPD has an nteger and a fractonal part, wheren the nteger part cannot be separated from the nteger ambgutes anyway. Therefore t s only possble to estmate the fractonal part of the UPDs. However, ths s suffcent to restore the nteger nature of the ambgutes. Fg. 5: SD UPD PRN19 PRN In Fgure 5 the nput and output of the Kalman flter for the satellte par PRN19 PRN are shown. The fractonal parts of the SD UPDs observed at the statons whch serve as nput are llustrated by the dfferent colors. Snce the network conssts of more than 80 statons the same color appears several tmes. As t can be seen the fractonal parts observed at the ndvdual statons are very stable after a short ntalzaton phase and the dfferences between them are n the range of about 0. cycles (one cycle corresponds to ~86 cm). In addton to the observatons the UPD correcton estmated as parameter of the Kalman flter s shown, whch s llustrated by the slghtly thcker black lne. Estmaton of the narrow-lane UPDs Followng the estmaton of correctons for the SD UPDs the estmaton for the SD NL UPDs s carred out. Accordng to Eq. 4 an estmaton of the SD NL UPD correcton requres a soluton of the SD IF float ambguty B,j n the frst place. The SD IF ambgutes are estmated together wth the zenth tropospherc delay wthn a SD PPP soluton at each staton. All other errors are modeled or elmnated by buldng the onosphere free lnear combnaton and the dfference between the observatons of two satelltes. Followng ths, the observed SD ambgutes are fxed usng the prevously estmated SD UPD correctons accordng to ˆj, ˆj, j, N = B δ φ (8) The fxng s performed by a smple nteger roundng of the corrected SD ambgutes to the nearest nteger usng a threshold of 0.5 cycles as fxng decson. Ths relatve hgh threshold can be used due to the good wavelength/ nose raton of the smoothed MW observables. After a successful fx the SD NL ambgutes can be estmated by a reformulaton of Eq. 4 and the substtuton of Eq. 8 accordng to: j, j, f j, j, N N N j, + φ + NL NL ( ˆ + φ )= c( f f 1 ) (9) = 1 j, f B Nˆ j,. c( f f 1 ) c( f f 1 ) The dfference between N,j,j and ^N must not be necessarly zero whch s manly caused by the nteger part of the SD UPD Df,j and bases of the pseudo-range. Snce both of the two terms are constant they can be merged nto the SD NL UPD correcton accordng to ˆ j, j, f j, ˆj,, φ = φ + N N φ j NL NL c ( f f ) ( + ) 1 (10) j, j, j, B = + φ ˆ. NL N NL NL But ths means that one has to keep consstency between the SD NL UPD correcton and the related SD UPD correcton. Wth the defnton gven n Eq. 10, Eq. 9 can be rewrtten as j, j, f j, B = 1 B + Nˆ (11) NL c f f c f f ( ) 1 ( ) 1 wth B,j beng the real-valued carrer-phase ambguty estmated wthn the SD PPP soluton,j and ^N beng the fxed SD ambguty. The estmaton of the SD NL UPD correctons tself s carred out usng the same procedure as for the estmaton of the UPDs correctons. In a frst place the postve fractonal parts of the SD NL ambgutes are estmated whch are subsequently combned n a Kalman flter. The man dfference compared to the estmatons of the UPDs s the stablty of the NL UPDs. The NL UPDs correctons are less stable whch s manly due to the small wavelength of the NL combnaton whch corresponds to ~10 cm as well as unmodelled effects ntroduced by remanng error sources (remanng troposphere and onosphere, orbt and clock naccuraces). Fgure 6 llustrates the nput and ouput of the Kalman flter for the estmaton of the SD NL

6 F. Hnterberger et al.: Ambguty fxng n real-tme PPP Determnaton of uncalbrated 15 Fg. 6: SD NL UPD PRN19 PRN UPD correcton of the prevously shown satellte par (PRN19 PRN). As t can be seen the fractonal parts of SD NL UPDs observed are n the range of a few tenths of a cycle only (one cycle corresponds to ~10 cm). So the solutons of the dfferent statons are n the range of a few centmetres whch leads to the concluson that all necessary errors are modelled qute well. Another very nterestng pont s that the fractonal parts observed are very stable. Ths s also true for the other SD NL UPDs. Therefore, a contnuous estmate of the UPD correcton s possble and no tme-dependent change has to be consdered n order to provde hgh qualty bases.. Stablty of the UPD correctons Wthn ths secton the stablty of the and NL UPD correctons wll be dscussed on the bass of one week of processed data. For the estmaton observatons of 80 statons of the EUREF network (see Fgure 4) n GPS Week 17 n combnaton wth precse orbt and clock products from the IGS (see [10]) were used. Processng one week of data allows for the analyss of the stablty of the and NL UPD correctons whch s of nterest for the estmaton process tself and the update rate for transferrng the UPDs to the user. Stablty of the SD UPD correctons In Fgure 7 the SD UPD correctons of three satelltes (PRN1, PRN14 and PRN) wth respect to the reference satellte PRN19 are shown over the perod of one week. As t can be seen the estmated SD UPD correctons are not only stable durng the tme they are observed (usually once per day), they are also stable over much longer perods. Ths s also true for the soluton of PRN even though t seems to jump. The reason for these artfcal jumps s that the fractonal parts of an ambguty whch s n the range of an nteger, can exhbt dfferences of one full cycle. However, dfferences of one full cycle have no nfluence on the ambguty fxng. In consderaton of an operatonal servce there would be two possbltes to process the SD UPD correctons: The frst opton would be to post process the UPDs wth a delay of one day. The second one would be to estmate them n real-tme together wth the SD NL UPDs. The frst opton has the advantage of reduced computatonal burden. On the other hand, due to the hgh stablty of correctons, t s more than suffcent to estmate them only every 15 mnutes whch does not need a lot of computer power. Stablty of the SD NL UPD correctons The results of the SD NL UPD shown prevously ndcate that the correctons are very stable durng the tme they are observed. Now t s of specal nterest f they are also stable over longer perods. In Fgure 8 the correctons of three satelltes (PRN1, PRN14 and PRN) wth respect to the reference satellte PRN19 are shown overthe perod of one week. As t can be seen the estmated correctons are almost stable durng the tme they are observed (once per day), but contrary to the SD UPD correctons they are not stable over longer per- Fg. 7: Stablty of SD UPDs Fg. 8: Stablty of SD NL UPDs

7 16 Vermessung & Geonformaton +/015 ods. Those dfferences are probably caused by remanng errors n the orbts and satellte clocks and errors ntroduced by the mappng functon. One has to keep n mnd that one full NL cycle corresponds to only 10 cm, so the dfferences between the dfferent daly solutons are n the range of a few centmetres only. Furthermore two daly solutons of the estmated SD NL UPDs of PRN seem to drft. Those drfts may have ther orgn n unmodelled satellte specfc errors. Due to those drfts the NL UPD correctons requre a hgher estmaton rate compared to the UPDs. Snce the dfferences are n the regon of a few centmetres only a rate 10 to 0 seconds s stll enough.. Applcaton of the UPD correctons In order to test the qualty and relablty of the estmated correctons they were tested and evaluated usng the user-sde module developed at the TU Graz, where the correctons are appled to recover the nteger nature of the and NL ambgutes. The fxed nteger ambgutes can be re-ntroduced n the PPP soluton. In case of successfully establshed and appled correctons the convergence of the coordnate soluton should be extremely short. In other words the appled correctons should allow for an ambguty fxng n zero-dfference mode after ntroducng only a few epochs of observatons. To show the convergence a PPP soluton wth ambguty fxng was calculated. Therefore observaton data of the IGS staton Graz Lustbühel (GRAZ) from DOY 87 n 01 was used together wth the precse orbt and clock products of the IGS. As soon as the 4th narrow-lane ambguty value s fxed to an nteger n the example llustrated n Fgure 9 ths happens after a couple of mnutes the horzontal poston soluton stays extremely stable n the surroundng of ± cm of Fg. 9: PPP soluton wth ambguty fxng the reference coordnates. In contrast to common float PPP solutons the east-component s as accurate as the north-component ths arses from the fact, that now the ambgutes are no unknowns anymore. In general t can be stated that the perod requred to fx the frst four NL ambgutes strongly depends on the qualty of correctons as well as on the satellte constellaton geometry and on the qualty of the approxmate coordnates. Under favorable condtons the convergence tme s dramatcally reduced to a couple of mnutes. A much more detaled nvestgaton on the applcaton of the correctons at the user-sde module can be found n [11]. 4. Concluson and Outlook Ths paper shows that a fully functonal system enablng nteger PPP was developed wthn the context of the project PPPServe, whch s consstng of a network-sde and a user-sde module. The network-sde module allows for the estmaton of PPP-correctons to phase observables, whch, on the other hand, help to recover the nteger nature of and NL ambgutes and therefore enable ambguty resoluton at the user-sde. The UPD correctons are estmated usng the MW combnaton. Due to the nose ntroduced by the code observatons the sngle MW observatons have to be smoothed by buldng the mean value over the epochs. The estmaton of the UPD correctons s carred out usng a Kalman flter. Summarzng, the UPD correctons are very stable over several days, whch would even allow for estmatng them n post processng. The NL UPD correctons are estmated on bass of the estmated IF float and fxed nteger ambgutes. The IF float ambgutes are generated usng a standard PPP soluton and the ambgutes are fxed to ntegers by means of the UPD correctons. The estmaton of the NL UPD correctons s also carred out usng a Kalman flter. Due to the relatvely short wavelength of the NL combnaton, unmodelled remanng errors n the orbts and satellte clocks and errors ntroduced by the mappng functon, strongly effect ther estmaton. Ths effect may lead to jumps between the dfferent daly solutons. Nevertheless, t could be shown that the estmated UPD correctons allow for a PPP soluton wth ambguty fxng at the user-sde, whch s extremely precse and stable as soon as only few nteger ambgutes can be fxed correctly. Under favorable condtons the convergence tme s dramatcally reduced to a couple of mnutes.

8 F. Hnterberger et al.: Ambguty fxng n real-tme PPP Determnaton of uncalbrated 17 Further, especally the east component of the coordnate soluton can be strongly mproved compared to a PPP float soluton. Even though the work shown n ths paper was only a proof of concept, a PPP servce offerng UPD correctons s realzable. Possble applcatons for such a servce are: Usng t n areas were no RTK servce s avalable Statc and knematc applcatons wth accuracy requrements of 5 0 cm, takng nto account possble long convergence tmes Independent montorng of the stablty of reference statons usng PPP Nevertheless n order to reach the performance of consoldated RTK systems PPP stll faces the followng challenges: In terms of the convergence tme PPP stll cannot compete wth establshed RTK servces. Contrary to RTK the convergence tme strongly depends on the ntal condtons In order to reach the same qualty as RTK regonal error models are requred. Such models can only be derved from regonal network data Currently there are no ndustry message standards that would allow for the transmsson of all correctons requred for PPP wth ambguty fxng. It should be noted that those standards are currently establshed Nevertheless, t s expected that the number of PPP solutons wll strongly ncrease n the next couple of years. Acknowledgments Fnancal support for the research project PPPServe came from the Federal Mnstry for Transport, Innovaton and Technology (BMVIT), represented by the Austran Research Promoton Agency (FFG). PPPServe s a project of the 8th Austran Space Applcatons Programme (ASAP). The PPPServe consortum conssted of the Technsche Unverstät Wen, Department für Geodäse und Geonformaton, Forschungsgruppe Höhere Geodäse (lead), the Graz Unversty of Technology, former Insttute of Navgaton and the former Wen-Energe Stromnetz GmbH operatng a natonwde GNSS reference ste network (EPOSA-Servce). References [1] Kouba J and Héroux P (001): Precse Pont Postonng Usng IGS Orbt and Clock Products, GPS Solutons, Vol. 5 Nr. [] Zumberge J, Hefln M, Jefferson D, Watkns M and Webb F (1997): Precse pont postonng for the effcent and robust analyss of GPS data from large networks Journal of Geophyscal Research 10, pp [] Rzos C (008): The Research Challenges of IAG Commsson 4 Postonng & Applcatons, Internatonal Assocaton of Geodesy Symposa 1, pp 16-1 [4] Laurchesse D, Mercer F, Berthas J P, Broca P, Cerr L (009): Integer Ambguty Resoluton on Undfferenced GPS Phase Measurements and ts Applcaton to PPP and Satellte Precse Orbt Determnaton, Journal of The Insttute of Navgaton, Vol. 56, N, pp [5] Collns P, Bsnath S, Lahaye F and Héroux P (010), Undfferenced GPS Ambguty Resoluton Usng the Decoupled Clock Model and Ambguty Datum Fxng, Journal of The Insttute of Navgaton, Vol. 57, No., pp [6] Ge M, Gendt G, Rothacher M, Sh C, and Lu J (008): Resoluton of GPS carrer-phase ambgutes n precse pont postonng (PPP) wth daly observatons, Journal of Geodesy 8, pp [7] Geng J, Meng X, Dodson A H and Teferle F N (010): Integer ambguty resoluton n precse pont postonng: method comparson, Journal of Geodesy, Vol. 85, No. 9, pp [8] Huber K, Hnterberger F, Lesjak R, Weber R, Klug C and Thaler G (01): PPPServe Network based GNSS Phase Bases to enhance PPP Applcatons, n: The European Navgaton Conference Proceedngs, publshed by: ENC01; The European Navgaton Conference, 01, ISBN: [9] Hofmann-Wellenhof B, Lchtenegger H and Wasle H (007): Global Navgaton Satellte Systems GPS, Glonass, GALILEO and more. Sprnger Wen New York [10] Internatonal Global Navgaton Satellte System Servce (IGS) (01): IGS Qualty of Servce Fact Sheet, kb.gs.org/hc/en-us/artcles/ ( ) [11] Huber K, Hnterberger F, Lesjak R and Weber R (014): Real-tme PPP wth ambguty resoluton Determnaton and Applcaton of Uncalbrated Phase Dealys, Proceedngs of the 7th Internatonal Techncal Meetng of the Satellte Dvson of the Insttute of Navgaton (ION GNSS+ 014, 1 (014), S Contacts Dpl.-Ing. Faban Hnterberger, Technsche Unverstät Wen, Department für Geodäse und Geonformaton, Forschungsgruppe Höhere Geodäse, Gußhausstraße 7-9, 1040 Venna, Austra. E-Mal: faban.hnterberger@tuwen.ac.at Ao.-Unv. Prof. Dpl.-Ing. Dr.techn. Robert Weber, Technsche Unverstät Wen, Department für Geodäse und Geonformaton, Forschungsgruppe Höhere Geodäse, Gußhausstraße 7-9, 1040 Venna, Austra. E-Mal: robert.weber@tuwen.ac.at Dpl.-Ing. Katrn Huber, Insttute of Geodesy, Workng Group Navgaton, NAWI Graz, Graz Unversty of Technology, Steyrergasse 0/III, 8010 Graz, Austra. E-Mal: katrn.huber@tugraz.at Dpl.-Ing. Roman Lesjak, Insttute of Geodesy, Workng Group Navgaton, NAWI Graz, Graz Unversty of Technology, Steyrergasse 0/III, 8010 Graz, Austra. E-Mal: roman.lesjak@tugraz.at

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