{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T16:18:37Z","timestamp":1773073117319,"version":"3.50.1"},"reference-count":72,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T00:00:00Z","timestamp":1651017600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T00:00:00Z","timestamp":1651017600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Earth Sci Inform"],"published-print":{"date-parts":[[2022,6]]},"DOI":"10.1007\/s12145-022-00814-7","type":"journal-article","created":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T19:03:18Z","timestamp":1651086198000},"page":"1267-1284","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["An improved weighting strategy for tropospheric delay estimation with real-time single-frequency precise positioning"],"prefix":"10.1007","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3169-8862","authenticated-orcid":false,"given":"Berkay","family":"Bahadur","sequence":"first","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,4,27]]},"reference":[{"issue":"361","key":"814_CR1","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1080\/00396265.2017.1296628","volume":"50","author":"M AbdRabbou","year":"2018","unstructured":"AbdRabbou M, El-Shazly A, Ahmed K (2018) Comparative analysis of multi-constellation GNSS single-frequency precise point positioning. Sur Rev 50(361):373\u2013382. https:\/\/doi.org\/10.1080\/00396265.2017.1296628","journal-title":"Sur Rev"},{"issue":"4","key":"814_CR2","doi-asserted-by":"publisher","first-page":"176","DOI":"10.1061\/(ASCE)SU.1943-5428.0000107","volume":"139","author":"AR Amiri-Simkooei","year":"2013","unstructured":"Amiri-Simkooei AR, Zangeneh-Nejad F, Asgari J (2013) Least-squares variance component estimation applied to GPS geometry-based observation model. J Surv Eng-ASCE 139(4):176\u2013187. https:\/\/doi.org\/10.1061\/(ASCE)SU.1943-5428.0000107","journal-title":"J Surv Eng-ASCE"},{"issue":"4","key":"814_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-018-0777-z","volume":"22","author":"B Bahadur","year":"2018","unstructured":"Bahadur B, Nohutcu M (2018) PPPH: a MATLAB-based software for multi-GNSS precise point positioning analysis. GPS Solut 22(4):1\u201310. https:\/\/doi.org\/10.1007\/s10291-018-0777-z","journal-title":"GPS Solut"},{"key":"814_CR4","doi-asserted-by":"publisher","first-page":"108596","DOI":"10.1016\/j.measurement.2020.108596","volume":"173","author":"B Bahadur","year":"2021","unstructured":"Bahadur B, Nohutcu M (2021) Integration of variance component estimation with robust Kalman filter for single-frequency multi-GNSS positioning. Measurement 173:108596. https:\/\/doi.org\/10.1016\/j.measurement.2020.108596","journal-title":"Measurement"},{"key":"814_CR5","unstructured":"BDS (2021) BeiDou open service signal-in-space Interface Control Document (ICD), http:\/\/en.beidou.gov.cn\/SYSTEMS\/ICD\/. Accessed 27 Jan 2022"},{"issue":"3","key":"814_CR6","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1175\/1520-0450(1994)033%3C0379:GMMZWD%3E2.0.CO;2","volume":"33","author":"M Bevis","year":"1994","unstructured":"Bevis M, Businger S, Chiswell S, Herring TA, Anthes RA, Rocken C, Ware RH (1994) GPS meteorology: mapping zenith wet delays onto precipitable water. J Appl Meteorol 33(3):379\u2013386. https:\/\/doi.org\/10.1175\/1520-0450(1994)033%3C0379:GMMZWD%3E2.0.CO;2","journal-title":"J Appl Meteorol"},{"key":"814_CR7","unstructured":"BKG (2021) BKG NTRIP Client (BNC). https:\/\/igs.bkg.bund.de\/ntrip\/download. Accessed 27 Jan 2022"},{"issue":"2","key":"814_CR8","doi-asserted-by":"publisher","first-page":"223","DOI":"10.1007\/s10291-012-0273-9","volume":"17","author":"C Cai","year":"2013","unstructured":"Cai C, Gao Y (2013) Modeling and assessment of combined GPS\/GLONASS precise point positioning. GPS Solut 17(2):223\u2013236. https:\/\/doi.org\/10.1007\/s10291-012-0273-9","journal-title":"GPS Solut"},{"issue":"5","key":"814_CR9","doi-asserted-by":"publisher","first-page":"911","DOI":"10.1017\/S0373463314000320","volume":"67","author":"C Cai","year":"2014","unstructured":"Cai C, Pan L, Gao Y (2014) A precise weighting approach with application to combined L1\/B1 GPS\/BeiDou positioning. J Navig 67(5):911\u2013925. https:\/\/doi.org\/10.1017\/S0373463314000320","journal-title":"J Navig"},{"issue":"6","key":"814_CR10","doi-asserted-by":"publisher","first-page":"1593","DOI":"10.1029\/RS020i006p01593","volume":"20","author":"JL Davis","year":"1985","unstructured":"Davis JL, Herring TA, Shapiro II, Rogers AEE, Elgered G (1985) Geodesy by radio interferometry: Effects of atmospheric modeling errors on estimates of baseline length. Radio Sci 20(6):1593\u20131607. https:\/\/doi.org\/10.1029\/RS020i006p01593","journal-title":"Radio Sci"},{"issue":"677","key":"814_CR11","doi-asserted-by":"publisher","first-page":"2097","DOI":"10.1002\/qj.2087","volume":"139","author":"S De Haan","year":"2013","unstructured":"De Haan S (2013) Assimilation of GNSS ZTD and radar radial velocity for the benefit of very-short-range regional weather forecasts. Q J R Meteorol Soc 139(677):2097\u20132107. https:\/\/doi.org\/10.1002\/qj.2087","journal-title":"Q J R Meteorol Soc"},{"key":"814_CR12","doi-asserted-by":"publisher","first-page":"8172342","DOI":"10.1155\/2017\/8172342","volume":"2017","author":"J Deng","year":"2017","unstructured":"Deng J, Zhao X, Zhang A, Ke F (2017) A robust method for GPS\/BDS pseudorange differential positioning based on the Helmert variance component estimation. J Sens 2017:8172342. https:\/\/doi.org\/10.1155\/2017\/8172342","journal-title":"J Sens"},{"issue":"9","key":"814_CR13","doi-asserted-by":"publisher","first-page":"1347","DOI":"10.1016\/j.asr.2014.02.021","volume":"53","author":"J Dousa","year":"2014","unstructured":"Dousa J, Vaclavovic P (2014) Real-time zenith tropospheric delays in support of numerical weather prediction applications. Adv Space Res 53(9):1347\u20131358. https:\/\/doi.org\/10.1016\/j.asr.2014.02.021","journal-title":"Adv Space Res"},{"issue":"9","key":"814_CR14","doi-asserted-by":"publisher","first-page":"2982","DOI":"10.1016\/j.asr.2014.02.021","volume":"63","author":"C Fan","year":"2019","unstructured":"Fan C, Guan Q, Zhu Z, Peng F, Xiang W (2019) Fuzzy weighting approach for single point positioning with single-frequency pseudo-range observations. Adv Space Res 63(9):2982\u20132994. https:\/\/doi.org\/10.1016\/j.asr.2014.02.021","journal-title":"Adv Space Res"},{"issue":"7","key":"814_CR15","doi-asserted-by":"publisher","first-page":"553","DOI":"10.3390\/rs8070553","volume":"8","author":"Z Gao","year":"2016","unstructured":"Gao Z, Shen W, Zhang H, Ge M, Niu X (2016) Application of Helmert variance component based adaptive Kalman filter in multi-GNSS PPP\/INS tightly coupled integration. Remote Sens 8(7):553. https:\/\/doi.org\/10.3390\/rs8070553","journal-title":"Remote Sens"},{"key":"814_CR16","doi-asserted-by":"publisher","first-page":"628","DOI":"10.1016\/j.measurement.2019.07.009","volume":"146","author":"Y Ge","year":"2019","unstructured":"Ge Y, Zhou F, Dai P, Qin W, Wang S, Yang X (2019) Precise point positioning time transfer with multi-GNSS single-frequency observations. Measurement 146:628\u2013642. https:\/\/doi.org\/10.1016\/j.measurement.2019.07.009","journal-title":"Measurement"},{"key":"814_CR17","doi-asserted-by":"publisher","first-page":"108871","DOI":"10.1016\/j.measurement.2020.108871","volume":"172","author":"Y Ge","year":"2021","unstructured":"Ge Y, Chen S, Wu T, Fan C, Qin W, Zhou F, Yang X (2021) An analysis of BDS-3 real-time PPP: Time transfer, positioning, and tropospheric delay retrieval. Measurement 172:108871. https:\/\/doi.org\/10.1016\/j.measurement.2020.108871","journal-title":"Measurement"},{"key":"814_CR18","volume-title":"Applied optimal estimation","author":"A Gelb","year":"1974","unstructured":"Gelb A (1974) Applied optimal estimation. MIT press, Cambridge"},{"key":"814_CR19","doi-asserted-by":"publisher","unstructured":"GSA (2019) GNSS market report, Issue 6, October 2019, European GNSS Agency. https:\/\/doi.org\/10.2878\/031762","DOI":"10.2878\/031762"},{"issue":"11","key":"814_CR20","doi-asserted-by":"publisher","first-page":"2714","DOI":"10.1016\/j.measurement.2020.108871","volume":"59","author":"F Guo","year":"2017","unstructured":"Guo F, Li X, Zhang X, Wang J (2017) The contribution of Multi-GNSS Experiment (MGEX) to precise point positioning. Adv Space Res 59(11):2714\u20132725. https:\/\/doi.org\/10.1016\/j.measurement.2020.108871","journal-title":"Adv Space Res"},{"issue":"1","key":"814_CR21","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1007\/s10291-014-0369-5","volume":"19","author":"T Hadas","year":"2015","unstructured":"Hadas T, Bosy J (2015) IGS RTS precise orbits and clocks verification and quality degradation over time. GPS Solut 19(1):93\u2013105. https:\/\/doi.org\/10.1007\/s10291-014-0369-5","journal-title":"GPS Solut"},{"issue":"10","key":"814_CR22","doi-asserted-by":"publisher","first-page":"1756","DOI":"10.1109\/LGRS.2020.3007138","volume":"18","author":"T Hadas","year":"2020","unstructured":"Hadas T, Hobiger T (2020) Benefits of Using Galileo for Real-Time GNSS Meteorology. IEEE Geosci Remote Sens Lett 18(10):1756\u20131760. https:\/\/doi.org\/10.1109\/LGRS.2020.3007138","journal-title":"IEEE Geosci Remote Sens Lett"},{"issue":"3","key":"814_CR23","doi-asserted-by":"publisher","first-page":"1069","DOI":"10.1007\/s10291-016-0595-0","volume":"21","author":"T Hadas","year":"2017","unstructured":"Hadas T, Teferle FN, Kazmierski K, Hordyniec P, Bosy J (2017) Optimum stochastic modeling for GNSS tropospheric delay estimation in real-time. GPS Solut 21(3):1069\u20131081. https:\/\/doi.org\/10.1007\/s10291-016-0595-0","journal-title":"GPS Solut"},{"issue":"4","key":"814_CR24","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-019-0900-9","volume":"23","author":"T Hadas","year":"2019","unstructured":"Hadas T, Kazmierski K, So\u015bnica K (2019) Performance of Galileo-only dual-frequency absolute positioning using the fully serviceable Galileo constellation. GPS Solut 23(4):1\u201312. https:\/\/doi.org\/10.1007\/s10291-019-0900-9","journal-title":"GPS Solut"},{"issue":"4","key":"814_CR25","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-020-01014-w","volume":"24","author":"T Hadas","year":"2020","unstructured":"Hadas T, Hobiger T, Hordyniec P (2020) Considering different recent advancements in GNSS on real-time zenith troposphere estimates. GPS Solut 24(4):1\u201314. https:\/\/doi.org\/10.1007\/s10291-020-01014-w","journal-title":"GPS Solut"},{"issue":"18","key":"814_CR26","doi-asserted-by":"publisher","first-page":"4487","DOI":"10.1029\/JC074i018p04487","volume":"74","author":"HS Hopfield","year":"1969","unstructured":"Hopfield HS (1969) Two-quartic tropospheric refractivity profile for correcting satellite data. J Geophys Res 74(18):4487\u20134499. https:\/\/doi.org\/10.1029\/JC074i018p04487","journal-title":"J Geophys Res"},{"issue":"1","key":"814_CR27","doi-asserted-by":"publisher","first-page":"84","DOI":"10.3390\/rs10010084","volume":"10","author":"K Kazmierski","year":"2018","unstructured":"Kazmierski K, Hadas T, So\u015bnica K (2018) Weighting of multi-GNSS observations in real-time precise point positioning. Remote Sens 10(1):84. https:\/\/doi.org\/10.3390\/rs10010084","journal-title":"Remote Sens"},{"key":"814_CR28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-03976-2","volume-title":"Parameter estimation and hypothesis testing in linear models","author":"KR Koch","year":"1999","unstructured":"Koch KR (1999) Parameter estimation and hypothesis testing in linear models. Springer Science & Business Media, Berlin"},{"issue":"2","key":"814_CR29","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1007\/PL00012883","volume":"5","author":"J Kouba","year":"2001","unstructured":"Kouba J, H\u00e9roux P (2001) Precise point positioning using IGS orbit and clock products. GPS Solut 5(2):12\u201328. https:\/\/doi.org\/10.1007\/PL00012883","journal-title":"GPS Solut"},{"key":"814_CR30","unstructured":"Kouba J (2015) A guide to using International GNSS Service (IGS) products. https:\/\/kb.igs.org\/hc\/en-us\/articles\/201271873-A-Guide-to-Using-the-IGS-Products. Accessed 27 Jan 2022"},{"issue":"4","key":"814_CR31","doi-asserted-by":"publisher","first-page":"349","DOI":"10.1007\/s00190-017-1066-2","volume":"92","author":"D Landskron","year":"2018","unstructured":"Landskron D, B\u00f6hm J (2018) VMF3\/GPT3: refined discrete and empirical troposphere mapping functions. J Geodesy 92(4):349\u2013360. https:\/\/doi.org\/10.1007\/s00190-017-1066-2","journal-title":"J Geodesy"},{"issue":"10","key":"814_CR32","doi-asserted-by":"publisher","first-page":"923","DOI":"10.1007\/s00190-013-0655-y","volume":"87","author":"SW Lee","year":"2013","unstructured":"Lee SW, Kouba J, Schutz B, Kim DH, Lee YJ (2013) Monitoring precipitable water vapor in real-time using global navigation satellite systems. J Geodesy 87(10):923\u2013934. https:\/\/doi.org\/10.1007\/s00190-013-0655-y","journal-title":"J Geodesy"},{"issue":"12","key":"814_CR33","doi-asserted-by":"publisher","first-page":"6385","DOI":"10.1109\/TGRS.2015.2438395","volume":"53","author":"X Li","year":"2015","unstructured":"Li X, Dick G, Lu C, Ge M, Nilsson T, Ning T, Wickert J, Schuh H (2015a) Multi-GNSS meteorology: real-time retrieving of atmospheric water vapor from BeiDou, Galileo, GLONASS, and GPS observations. IEEE Trans Geosci Remote Sens 53(12):6385\u20136393. https:\/\/doi.org\/10.1109\/TGRS.2015.2438395","journal-title":"IEEE Trans Geosci Remote Sens"},{"issue":"6","key":"814_CR34","doi-asserted-by":"publisher","first-page":"607","DOI":"10.1007\/s00190-015-0802-8","volume":"89","author":"X Li","year":"2015","unstructured":"Li X, Ge M, Dai X, Ren X, Fritsche M, Wickert J, Schuh H (2015b) Accuracy and reliability of multi-GNSS real-time precise positioning: GPS, GLONASS, BeiDou, and Galileo. J Geodesy 89(6):607\u2013635. https:\/\/doi.org\/10.1007\/s00190-015-0802-8","journal-title":"J Geodesy"},{"issue":"8","key":"814_CR35","doi-asserted-by":"publisher","first-page":"1261","DOI":"10.3390\/s16081261","volume":"16","author":"L Li","year":"2016","unstructured":"Li L, Jia C, Zhao L, Cheng J, Liu J, Ding J (2016) Real-time single frequency precise point positioning using SBAS corrections. Sensors 16(8):1261. https:\/\/doi.org\/10.3390\/s16081261","journal-title":"Sensors"},{"issue":"9","key":"814_CR36","doi-asserted-by":"publisher","first-page":"1659","DOI":"10.1007\/s00190-019-01275-5","volume":"93","author":"Z Li","year":"2019","unstructured":"Li Z, Wang N, Wang L, Liu A, Yuan H, Zhang K (2019) Regional ionospheric TEC modeling based on a two-layer spherical harmonic approximation for real-time single-frequency PPP. J Geodesy 93(9):1659\u20131671. https:\/\/doi.org\/10.1007\/s00190-019-01275-5","journal-title":"J Geodesy"},{"issue":"3","key":"814_CR37","doi-asserted-by":"publisher","first-page":"669","DOI":"10.3390\/s20030669","volume":"20","author":"M Li","year":"2020","unstructured":"Li M, Nie W, Xu T, Rovira-Garcia A, Fang Z, Xu G (2020) Helmert variance component estimation for multi-GNSS relative positioning. Sensors 20(3):669. https:\/\/doi.org\/10.3390\/s20030669","journal-title":"Sensors"},{"issue":"12","key":"814_CR38","doi-asserted-by":"publisher","first-page":"1317","DOI":"10.3390\/rs9121317","volume":"9","author":"C Lu","year":"2017","unstructured":"Lu C, Chen X, Liu G, Dick G, Wickert J, Jiang X, Zheng K, Schuh H (2017) Real-time tropospheric delays retrieved from multi-GNSS observations and IGS real-time product streams. Remote Sens 9(12):1317. https:\/\/doi.org\/10.3390\/rs9121317","journal-title":"Remote Sens"},{"issue":"1","key":"814_CR39","doi-asserted-by":"publisher","first-page":"015013","DOI":"10.1088\/1361-6501\/aaf0f6","volume":"30","author":"Y Ning","year":"2018","unstructured":"Ning Y, Han H, Zhang L (2018) Single-frequency precise point positioning enhanced with multi-GNSS observations and global ionosphere maps. Meas Sci Technol 30(1):015013. https:\/\/doi.org\/10.1088\/1361-6501\/aaf0f6","journal-title":"Meas Sci Technol"},{"issue":"12","key":"814_CR40","doi-asserted-by":"publisher","first-page":"125801","DOI":"10.1088\/1361-6501\/aa92eb","volume":"28","author":"R Odolinski","year":"2017","unstructured":"Odolinski R, Teunissen PJG (2017) Low-cost, 4-system, precise GNSS positioning: a GPS, Galileo, BDS and QZSS ionosphere-weighted RTK analysis. Meas Sci Technol 28(12):125801. https:\/\/doi.org\/10.1088\/1361-6501\/aa92eb","journal-title":"Meas Sci Technol"},{"issue":"1","key":"814_CR41","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1038\/s41598-018-35155-3","volume":"8","author":"L Pan","year":"2018","unstructured":"Pan L, Guo F (2018) Real-time tropospheric delay retrieval with GPS, GLONASS, Galileo and BDS data. Sci Rep 8(1):1\u201317. https:\/\/doi.org\/10.1038\/s41598-018-35155-3","journal-title":"Sci Rep"},{"issue":"12","key":"814_CR42","doi-asserted-by":"publisher","first-page":"2596","DOI":"10.1016\/j.asr.2017.01.014","volume":"60","author":"Z Pan","year":"2017","unstructured":"Pan Z, Chai H, Kong Y (2017a) Integrating multi-GNSS to improve the performance of precise point positioning. Adv Space Res 60(12):2596\u20132606. https:\/\/doi.org\/10.1016\/j.asr.2017.01.014","journal-title":"Adv Space Res"},{"issue":"3","key":"814_CR43","doi-asserted-by":"publisher","first-page":"465","DOI":"10.1017\/S0373463316000771","volume":"70","author":"L Pan","year":"2017","unstructured":"Pan L, Zhang X, Liu J, Li X, Li X (2017b) Performance evaluation of single-frequency precise point positioning with GPS, GLONASS, BeiDou and Galileo. J Navig 70(3):465\u2013482. https:\/\/doi.org\/10.1017\/S0373463316000771","journal-title":"J Navig"},{"key":"814_CR44","doi-asserted-by":"publisher","first-page":"108073","DOI":"10.1016\/j.measurement.2020.108073","volume":"165","author":"K Parvazi","year":"2020","unstructured":"Parvazi K, Farzaneh S, Safari A (2020) Role of the RLS-VCE-estimated stochastic model for improvement of accuracy and convergence time in multi-GNSS precise point positioning. Measurement 165:108073. https:\/\/doi.org\/10.1016\/j.measurement.2020.108073","journal-title":"Measurement"},{"issue":"2","key":"814_CR45","doi-asserted-by":"publisher","first-page":"208","DOI":"10.3390\/rs10020208","volume":"10","author":"J Paziewski","year":"2018","unstructured":"Paziewski J, Sieradzki R, Wielgosz P (2018) On the applicability of Galileo FOC satellites with incorrect highly eccentric orbits: An evaluation of instantaneous medium-range positioning. Remote Sens 10(2):208. https:\/\/doi.org\/10.3390\/rs10020208","journal-title":"Remote Sens"},{"key":"814_CR46","unstructured":"Petit G, Luzum B (2010) IERS Conventions 2010 IERS Technical Note 36, Frankfurt am Main: Verlag des Bundesamts f\u00fcr Kartographie und Geod\u00e4sie,179 pp., ISBN 3\u201389888\u2013989\u20136"},{"issue":"3","key":"814_CR47","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1016\/0047-259X(71)90001-7","volume":"1","author":"CR Rao","year":"1971","unstructured":"Rao CR (1971) Estimation of variance and covariance components\u2014MINQUE theory. J Multivar Anal 1(3):257\u2013275. https:\/\/doi.org\/10.1016\/0047-259X(71)90001-7","journal-title":"J Multivar Anal"},{"issue":"1","key":"814_CR48","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1007\/BF02521844","volume":"105","author":"J Saastamoinen","year":"1972","unstructured":"Saastamoinen J (1972) Contributions to the theory of atmospheric refraction. Bull G\u00e9od 105(1):279\u2013298. https:\/\/doi.org\/10.1007\/BF02521844","journal-title":"Bull G\u00e9od"},{"issue":"11","key":"814_CR49","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1016\/j.asr.2014.06.030","volume":"55","author":"P Steigenberger","year":"2015","unstructured":"Steigenberger P, Hugentobler U, Loyer S, Perosanz F, Prange L, Dach R, Uhlemann M, Gendt G, Montenbruck O (2015) Galileo orbit and clock quality of the IGS multi-GNSS experiment. Adv Space Res 55(11):269\u2013281. https:\/\/doi.org\/10.1016\/j.asr.2014.06.030","journal-title":"Adv Space Res"},{"issue":"8","key":"814_CR50","doi-asserted-by":"publisher","first-page":"793","DOI":"10.1007\/s00190-015-0816-2","volume":"89","author":"O Sterle","year":"2015","unstructured":"Sterle O, Stopar B, Pre\u0161eren PP (2015) Single-frequency precise point positioning: an analytical approach. J Geodesy 89(8):793\u2013810. https:\/\/doi.org\/10.1007\/s00190-015-0816-2","journal-title":"J Geodesy"},{"issue":"11","key":"814_CR51","doi-asserted-by":"publisher","first-page":"115018","DOI":"10.1088\/1361-6501\/ac0a0e","volume":"32","author":"P Sun","year":"2021","unstructured":"Sun P, Zhang K, Wu S, Wang R, Wan M (2021) An investigation into real-time GPS\/GLONASS single-frequency precise point positioning and its atmospheric mitigation strategies. Meas Sci Technol 32(11):115018. https:\/\/doi.org\/10.1088\/1361-6501\/ac0a0e","journal-title":"Meas Sci Technol"},{"issue":"2","key":"814_CR52","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s00190-007-0157-x","volume":"82","author":"PJG Teunissen","year":"2008","unstructured":"Teunissen PJG, Amiri-Simkooei AR (2008) Least-squares variance component estimation. J Geodesy 82(2):65\u201382. https:\/\/doi.org\/10.1007\/s00190-007-0157-x","journal-title":"J Geodesy"},{"key":"814_CR53","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-42928-1","volume-title":"Springer handbook of global navigation satellite systems","author":"PJG Teunissen","year":"2017","unstructured":"Teunissen PJG, Montenbruck O (2017) Springer handbook of global navigation satellite systems. Springer International Publishing, Cham"},{"issue":"1","key":"814_CR54","doi-asserted-by":"publisher","first-page":"148","DOI":"10.1016\/j.asr.2018.09.006","volume":"63","author":"K Wang","year":"2019","unstructured":"Wang K, Khodabandeh A, Teunissen PJG (2019a) Precision analysis of troposphere sensing using GPS single-frequency signals. Adv Space Res 63(1):148\u2013159. https:\/\/doi.org\/10.1016\/j.asr.2018.09.006","journal-title":"Adv Space Res"},{"issue":"17","key":"814_CR55","doi-asserted-by":"publisher","first-page":"2070","DOI":"10.3390\/rs11172070","volume":"11","author":"A Wang","year":"2019","unstructured":"Wang A, Chen J, Zhang Y, Meng L, Wang J (2019b) Performance of selected ionospheric models in multi-global navigation satellite system single-frequency positioning over China. Remote Sens 11(17):2070. https:\/\/doi.org\/10.3390\/rs11172070","journal-title":"Remote Sens"},{"issue":"3","key":"814_CR56","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-019-0856-9","volume":"23","author":"L Wang","year":"2019","unstructured":"Wang L, Li Z, Ge M, Neitzel F, Wang X, Yuan H (2019c) Investigation of the performance of real-time BDS-only precise point positioning using the IGS real-time service. GPS Solut 23(3):1\u201312. https:\/\/doi.org\/10.1007\/s10291-019-0856-9","journal-title":"GPS Solut"},{"issue":"2","key":"814_CR57","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1007\/s00190-011-0502-y","volume":"86","author":"L Wanninger","year":"2012","unstructured":"Wanninger L (2012) Carrier-phase inter-frequency biases of GLONASS receivers. J Geodesy 86(2):139\u2013148. https:\/\/doi.org\/10.1007\/s00190-011-0502-y","journal-title":"J Geodesy"},{"key":"814_CR58","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1016\/j.atmosres.2014.12.011","volume":"156","author":"K Wilgan","year":"2015","unstructured":"Wilgan K, Rohm W, Bosy J (2015) Multi-observation meteorological and GNSS data comparison with Numerical Weather Prediction model. Atmos Res 156:29\u201342. https:\/\/doi.org\/10.1016\/j.atmosres.2014.12.011","journal-title":"Atmos Res"},{"key":"814_CR59","first-page":"91","volume":"18","author":"J Wu","year":"1993","unstructured":"Wu J, Wu S, Hajj G, Bertiger W, Lichten S (1993) Effects of antenna orientation on GPS carrier phase. Manuscr Geod 18:91\u201398","journal-title":"Manuscr Geod"},{"issue":"9","key":"814_CR60","doi-asserted-by":"publisher","first-page":"2784","DOI":"10.1016\/j.asr.2018.06.008","volume":"63","author":"F Xia","year":"2019","unstructured":"Xia F, Ye S, Xia P, Zhao L, Jiang N, Chen D, Hu G (2019) Assessing the latest performance of Galileo-only PPP and the contribution of Galileo to Multi-GNSS PPP. Adv Space Res 63(9):2784\u20132795. https:\/\/doi.org\/10.1016\/j.asr.2018.06.008","journal-title":"Adv Space Res"},{"issue":"4","key":"814_CR61","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1007\/BF00873704","volume":"70","author":"ZC Yu","year":"1996","unstructured":"Yu ZC (1996) A universal formula of maximum likelihood estimation of variance-covariance components. J Geodesy 70(4):233\u2013240. https:\/\/doi.org\/10.1007\/BF00873704","journal-title":"J Geodesy"},{"key":"814_CR62","doi-asserted-by":"publisher","unstructured":"Yunck TP (1993) Coping with the atmosphere and ionosphere in precise satellite and ground positioning. In: Valance-Jones A (ed) Environmental effects on spacecraft trajectories and positioning, AGU Monograph Series. 73:1\u201316. https:\/\/doi.org\/10.1029\/GM073p0001","DOI":"10.1029\/GM073p0001"},{"issue":"10","key":"814_CR63","doi-asserted-by":"publisher","first-page":"4176","DOI":"10.1109\/JSEN.2018.2820097","volume":"18","author":"Q Zhang","year":"2018","unstructured":"Zhang Q, Zhao L, Zhao L, Zhou J (2018) An improved robust adaptive Kalman filter for GNSS precise point positioning. IEEE Sens J 18(10):4176\u20134186. https:\/\/doi.org\/10.1109\/JSEN.2018.2820097","journal-title":"IEEE Sens J"},{"issue":"10","key":"814_CR64","doi-asserted-by":"publisher","first-page":"3763","DOI":"10.1109\/JSEN.2019.2895041","volume":"19","author":"Q Zhang","year":"2019","unstructured":"Zhang Q, Zhao L, Zhou J (2019) A novel weighting approach for variance component estimation in GPS\/BDS PPP. IEEE Sens J 19(10):3763\u20133771. https:\/\/doi.org\/10.1109\/JSEN.2019.2895041","journal-title":"IEEE Sens J"},{"issue":"4","key":"814_CR65","doi-asserted-by":"publisher","first-page":"502","DOI":"10.3390\/math8040502","volume":"8","author":"X Zhang","year":"2020","unstructured":"Zhang X, Li P, Tu R, Lu X, Ge M, Schuh H (2020) Automatic calibration of process noise matrix and measurement noise covariance for multi-GNSS precise point positioning. Mathematics 8(4):502. https:\/\/doi.org\/10.3390\/math8040502","journal-title":"Mathematics"},{"issue":"1","key":"814_CR66","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1038\/s41598-018-26299-3","volume":"8","author":"Q Zhao","year":"2018","unstructured":"Zhao Q, Yao Y, Yao W, Li Z (2018) Real-time precise point positioning-based zenith tropospheric delay for precipitation forecasting. Sci Rep 8(1):1\u201312. https:\/\/doi.org\/10.1038\/s41598-018-26299-3","journal-title":"Sci Rep"},{"issue":"9","key":"814_CR67","doi-asserted-by":"publisher","first-page":"1694","DOI":"10.1029\/2019EA000650","volume":"6","author":"C Zhao","year":"2019","unstructured":"Zhao C, Zhang B, Li W, Yuan Y, Li M (2019) Simultaneous Retrieval of PWV and VTEC by Low-Cost Multi-GNSS Single-Frequency Receivers. Earth Space Sci 6(9):1694\u20131709. https:\/\/doi.org\/10.1029\/2019EA000650","journal-title":"Earth Space Sci"},{"issue":"1","key":"814_CR68","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-019-0923-2","volume":"24","author":"F Zheng","year":"2020","unstructured":"Zheng F, Gu S, Gong X, Lou Y, Fan L, Shi C (2020) Real-time single-frequency pseudorange positioning in China based on regional satellite clock and ionospheric models. GPS Solut 24(1):1\u201313. https:\/\/doi.org\/10.1007\/s10291-019-0923-2","journal-title":"GPS Solut"},{"issue":"2","key":"814_CR69","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-018-0699-9","volume":"22","author":"F Zhou","year":"2018","unstructured":"Zhou F, Dong D, Li W, Jiang X, Wickert J, Schuh H (2018) GAMP: An open-source software of multi-GNSS precise point positioning using undifferenced and uncombined observations. GPS Solut 22(2):1\u201310. https:\/\/doi.org\/10.1007\/s10291-018-0699-9","journal-title":"GPS Solut"},{"issue":"1","key":"814_CR70","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10291-019-0920-5","volume":"24","author":"P Zhou","year":"2020","unstructured":"Zhou P, Wang J, Nie Z, Gao Y (2020) Estimation and representation of regional atmospheric corrections for augmenting real-time single-frequency PPP. GPS Solut 24(1):1\u201312. https:\/\/doi.org\/10.1007\/s10291-019-0920-5","journal-title":"GPS Solut"},{"issue":"12","key":"814_CR71","doi-asserted-by":"publisher","first-page":"3994","DOI":"10.1016\/j.asr.2021.02.026","volume":"67","author":"S Zhu","year":"2021","unstructured":"Zhu S, Yue D, He L, Chen J, Liu Z (2021) Comparative analysis of four different single-frequency PPP models on positioning performance and atmosphere delay retrieval. Adv Space Res 67(12):3994\u20134010. https:\/\/doi.org\/10.1016\/j.asr.2021.02.026","journal-title":"Adv Space Res"},{"issue":"B3","key":"814_CR72","doi-asserted-by":"publisher","first-page":"5005","DOI":"10.1029\/96JB03860","volume":"102","author":"JF Zumberge","year":"1997","unstructured":"Zumberge JF, Heflin MB, Jefferson DC, Watkins MM, Webb FH (1997) Precise point positioning for the efficient and robust analysis of GPS data from large networks. J Geophys Res-Solid Earth 102(B3):5005\u20135017. https:\/\/doi.org\/10.1029\/96JB03860","journal-title":"J Geophys Res-Solid Earth"}],"container-title":["Earth Science Informatics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12145-022-00814-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12145-022-00814-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12145-022-00814-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,10]],"date-time":"2022-06-10T04:50:59Z","timestamp":1654836659000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12145-022-00814-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4,27]]},"references-count":72,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,6]]}},"alternative-id":["814"],"URL":"https:\/\/doi.org\/10.1007\/s12145-022-00814-7","relation":{},"ISSN":["1865-0473","1865-0481"],"issn-type":[{"value":"1865-0473","type":"print"},{"value":"1865-0481","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,4,27]]},"assertion":[{"value":"28 January 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 April 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 April 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The author has no relevant financial or non-financial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}