Performance Assessment of Multi-GNSS Real-Time Products from Various Analysis Centers

The performance of real-time precise point positioning (PPP) relies primarily on the availability and quality of orbit and clock corrections. In this research, we collected data streams from 12 real-time mount points of IGS Real-Time Service (RTS) or analysis centers for a one-month period and conducted a performance assessment, including product latency and data availability, accuracy of orbit, clock and positioning performance. The epoch availability of GPS, GLONASS, Galileo and BDS was more than 98.5%, 95.79%, 94.20% and 85.9%, respectively. In addition, the orbit and clock errors of different real-time corrections was investigated. Then, PPP in static and kinematic for 16 IGS stations was conducted. The results show the real-time PPP for different products has a longer convergence time and a slightly worse accuracy than those of the post-processing PPP. For static PPP over 24 h, the real-time products of WHU had the best performance, with a mean RMSE of 1.0 cm in the horizontal and vertical directions and a median convergence time of 12.0 min. The products of CAS had the faster convergence speed due to the shortest product latency. Regarding real-time kinematic PPP for GPS only in an hourly batch, the real-time products of WHU and ESA performed best with a mean RMSE of 10.8 cm and 9.5 cm in the horizontal and vertical directions, respectively. Additionally, the PPP for different real-time products with the multi-GNSS combination obtained higher accuracy than those with GPS only in post-processing or real-time mode, and the PPP with the GPS/GLONASS/Galileo/BDS combination had the fastest convergence speed and best positioning performance. The hourly based kinematic PPP results of CAS, DLR, GFZ and WHU with the GREC combination had positioning errors smaller than 5.2 cm.