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Xiaohong Zhang is currently a professor in Wuhan University. He obtained his Science and Technology, 31(12), 025001. https ://doi.org/10.1088/1361-
B.Sc., Master, and Ph.D. degrees with distinction in Geodesy and Survey Engi- 6501/ab41c f.
neering from the School of Geodesy and Geomatics of Wuhan University in Lu, M. Q., Li, W. Y., Yao, Z., & Cui, X. W. (2019). Overview of BDS III new signals.
1997, 1999, and 2002, respectively. His main research interests include precise Navigation, 66(1), 19–35.
point positioning and GNSS/INS integration. Mi, X. L., Zhang, B. C., Yuan, Y. B., & Luo, X. W. (2020). Characteristics of GPS,
BDS2, BDS3 and Galileo inter-system biases and their infuence on RTK
Wang Wang is currently a postgraduate in the School of Geodesy and Geo- positioning. Measurement Science and Technology, 31(1), 015009.
matics, Wuhan University. He obtained his Bachelor degree in surveying and Odijk, D., Nadarajah, N., Zaminpardaz, S., & Teunissen, P. J. G. (2017). GPS,
mapping engineering from the School of Geodesy and Geomatics of Wuhan Galileo, QZSS and IRNSS diferential ISBs: Estimation and application. GPS
University in 2015. His current research interest is GNSS attitude determina- Solutions, 21(2), 439–450.
tion. Odijk, D., & Teunissen, P. J. G. (2008). ADOP in closed form for a hierarchy of
multi-frequency single-baseline GNSS models. Journal of Geodesy, 82(8),
Wei Ke is currently a postgraduate in the School of Geodesy and Geomatics, 473–492.
Wuhan University. He obtained his Bachelor degree from the College of Civil Odijk, D., & Teunissen, P. J. G. (2013). Characterization of between-receiver
Engineering of Hefei University of Technology in 2019. His current research GPS-Galileo inter-system biases and their efect on mixed ambiguity reso-
interest is multi-GNSS precise relative positioning. lution. GPS Solutions, 17(4), 521–533.
Paziewski, J., & Wielgosz, P. (2015). Accounting for Galileo–GPS inter-system
Zhiqin Zhu is currently a lecturer in Wuhan University. He obtained his Ph.D. biases in precise satellite positioning. Journal of Geodesy, 89(1), 81–93.
degree in Geodesy and Survey Engineering from the School of Geodesy and Qu, L. Z., Du, M. Y., Wang, J., Gao, Y., Zhao, Q. L., Zhang, Q., & Guo, X. (2019).
Geomatics of Wuhan University in 2012. His main research interests include Precise point positioning ambiguity resolution by integrating BDS-3e into
GNSS/INS integrated navigation and precise GNSS data processing. BDS-2 and GPS. GPS Solutions, 23(3), 63. https ://doi.org/10.1007/s1029
1-019-0854-y.
Funding Shi, J. B., Ouyang, C. H., Huang, Y. S., & Peng, W. J. (2020). Assessment of BDS-3
This research was funded by the National Natural Science Foundation of China global positioning service: Ephemeris, SPP, PPP, RTK, and new signal. GPS
(Nos. 41774031, 41904035, 91638203), Hubei Provincial Natural Science Foun- Solutions, 24(3), 81. https ://doi.org/10.1007/s1029 1-020-00995 -y.
dation of China (No. 2019CFB261), the National Science Fund for Distinguished Song, Z. Y., Chen, J. P., Wang, B., & Yu, C. (2020). Analysis and modeling of the
Young Scholars (No. 41825009), and Key Laboratory of Geospace Environment inter-system bias between BDS-2 and BDS-3. In J. D. Sun, C. F. Yang, & J.
and Geodesy, Ministry of Education, Wuhan University (No. 19-01-06). Xie (Eds.), China satellite navigation conference (CSNC) 2020 proceedings
(Vol. II, pp. 279–289). Singapore: Springer.
Availability of data and materials Test and Assessment Research Center of China Satellite Navigation Ofce
The BDS-2/BDS-3 raw observations from MGEX station WUH2 are available at (CSNO-TARC). (2020). Constellation status. http://www.csno-tarc.cn/en/
ftp://cddis .gsfc.nasa.gov/pub/gps/data/daily /. All the remaining BDS-2/BDS-3 syste m/const ellat ion. Accessed 30 June 2020.
observations are not publicly available. For more details, please contact the Teunissen, P. J. G. (1995). The least-squares ambiguity decorrelation adjust-
corresponding author by email: xhzhang@sgg.whu.edu.cn. ment: A method for fast GPS integer ambiguity estimation. Journal of
Geodesy, 70(1–2), 65–82.
Competing interests Teunissen, P. J. G. (1997). A canonical theory for short GPS baselines. Part IV:
The authors declare that they have no competing interests. Precision versus reliability. Journal of Geodesy, 71(9), 513–525.
Wu, M. K., Liu, W. K., Wang, W., & Zhang, X. H. (2019a). Diferential inter-system
Author details biases estimation and initial assessment of instantaneous tightly com-
1 School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China. bined RTK with BDS-3, GPS, and Galileo. Remote Sensing, 11(12), 1430.
2 School of Geography and Information Engineering, China University of Geo- Wu, M. K., Zhang, X. H., Liu, W. K., Ni, S. J., & Yu, S. (2017). Tightly combined
sciences (Wuhan), Wuhan 430074, China. BeiDou B2 and Galileo E5b signals for precise relative positioning. The
Journal of Navigation, 70(6), 1253–1266.
Received: 24 July 2020 Accepted: 19 January 2021 Wu, M. K., Zhang, X. H., Liu, W. K., Wu, R. P., Zhang, R. L., Le, Y., & Wu, Y. X. (2019b).
Infuencing factors of GNSS diferential inter-system bias and perfor-
mance assessment of tightly combined GPS, Galileo, and QZSS relative
positioning for short baseline. The Journal of Navigation, 72(4), 965–986.
Xie, X., Fang, R. X., Geng, T., Wang, G. X., Zhao, Q. L., & Liu, J. N. (2018). Charac-
terization of GNSS signals tracked by the iGMAS network considering
recent BDS-3 satellites. Remote Sensing, 10(11), 1736.
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