{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T17:56:47Z","timestamp":1777571807309,"version":"3.51.4"},"reference-count":38,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2017,5,28]],"date-time":"2017-05-28T00:00:00Z","timestamp":1495929600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Nature Science Foundation of China","award":["41404032"],"award-info":[{"award-number":["41404032"]}]},{"name":"National Nature Science Foundation of China","award":["41674004"],"award-info":[{"award-number":["41674004"]}]},{"name":"National Nature Science Foundation of China","award":["41574030"],"award-info":[{"award-number":["41574030"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2042016kf0185"],"award-info":[{"award-number":["2042016kf0185"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Since 2015, China has successfully launched five experimental BeiDou global navigation system (BDS-3) satellites for expanding the regional system to global coverage. An initial performance assessment and characterization analysis of the BDS-3 is presented. Twenty days of tracking data have been collected from eleven monitoring stations. The tracking characteristics and measurement quality are analyzed and compared with the regional BDS (BDS-2) in terms of observed carrier-to-noise density ratio, pseudo-range multipath, and noise. The preliminary results suggest that the measurement quality of BDS-3 outperforms the BDS-2 for the same type of satellites. In addition, the analysis of multipath combinations reveals that the problem of satellite-induced code biases found in BDS-2 seems to have been solved for BDS-3. Precise orbit and clock determination are carried out and evaluated. The orbit overlap comparison show a precision of 2\u20136 dm in 3D root mean square (RMS) and 6\u201314 cm in the radial component for experimental BDS-3 satellites. External validations with satellite laser ranging (SLR) show residual RMS on the level of 1\u20133 dm. Finally, the performance of the new-generation onboard atomic clocks is evaluated and results confirm an increased stability compared to BDS-2 satellite clocks.<\/jats:p>","DOI":"10.3390\/s17061233","type":"journal-article","created":{"date-parts":[[2017,5,30]],"date-time":"2017-05-30T04:35:42Z","timestamp":1496118942000},"page":"1233","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":62,"title":["Performance of BDS-3: Measurement Quality Analysis, Precise Orbit and Clock Determination"],"prefix":"10.3390","volume":"17","author":[{"given":"Xin","family":"Xie","sequence":"first","affiliation":[{"name":"GNSS Research Center, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5760-5666","authenticated-orcid":false,"given":"Tao","family":"Geng","sequence":"additional","affiliation":[{"name":"GNSS Research Center, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qile","family":"Zhao","sequence":"additional","affiliation":[{"name":"GNSS Research Center, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingnan","family":"Liu","sequence":"additional","affiliation":[{"name":"GNSS Research Center, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Wang","sequence":"additional","affiliation":[{"name":"Shanghai Astronomical Observatory, Chinese Academy of Sciences, Shanghai 200030, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,5,28]]},"reference":[{"key":"ref_1","unstructured":"The State Council Information Office (2016, December 12). China\u2019s BeiDou Navigation Satellite System, Available online: http:\/\/www.beidou.gov.cn\/attach\/beidou\/China's%20BeiDou%20Navigation%20Satellite%20System(English).pdf."},{"key":"ref_2","first-page":"1","article-title":"Progress, Contribution and Challenges of Compass\/Beidou Satellite Navigation System","volume":"39","author":"Yang","year":"2010","journal-title":"Acta Geod. Cartogr. Sin."},{"key":"ref_3","unstructured":"China Satellite Navigation Office (CSNO) (2016, December 10). BeiDou Navigation Satellite System Signal in Space Interface Control Document, Open Service Signal (Version 2.1), Available online: http:\/\/www.beidou.gov.cn\/attach\/2016\/11\/07\/21212.pdf."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"2813","DOI":"10.1007\/s11434-011-4627-4","article-title":"Contribution of the Compass satellite navigation system to global PNT users","volume":"56","author":"Yang","year":"2011","journal-title":"Chin. Sci. Bull."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1007\/s10291-011-0210-3","article-title":"Characterization of Compass M-1 signals","volume":"16","author":"Hauschild","year":"2012","journal-title":"GPS Solut."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1007\/s10291-014-0374-8","article-title":"Multipath analysis of code measurements for BeiDou geostationary satellites","volume":"19","author":"Wang","year":"2014","journal-title":"GPS Solut."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1007\/s10291-012-0272-x","article-title":"Initial assessment of the COMPASS\/BeiDou-2 regional navigation satellite system","volume":"17","author":"Montenbruck","year":"2012","journal-title":"GPS Solut."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1007\/s00190-013-0622-7","article-title":"Initial results of precise orbit and clock determination for COMPASS navigation satellite system","volume":"87","author":"Zhao","year":"2013","journal-title":"J. Geod."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"4692","DOI":"10.1038\/srep04692","article-title":"Precise orbit determination of BeiDou constellation based on BETS and MGEX network","volume":"4","author":"Lou","year":"2014","journal-title":"Sci. Rep."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1007\/s10291-015-0488-7","article-title":"Analysis of BDS satellite clocks in orbit","volume":"20","author":"Wang","year":"2015","journal-title":"GPS Solut."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1007\/s00190-013-0625-4","article-title":"Orbit and clock analysis of Compass GEO and IGSO satellites","volume":"87","author":"Steigenberger","year":"2013","journal-title":"J. Geod."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"295","DOI":"10.1007\/s10291-012-0278-4","article-title":"Short-term analysis of GNSS clocks","volume":"17","author":"Hauschild","year":"2012","journal-title":"GPS Solut."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s10291-012-0264-x","article-title":"Precise relative positioning using real tracking data from COMPASS GEO and IGSO satellites","volume":"17","author":"Shi","year":"2013","journal-title":"GPS Solut."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"927","DOI":"10.3390\/s140100927","article-title":"Precise point positioning with the BeiDou navigation satellite system","volume":"14","author":"Li","year":"2014","journal-title":"Sensors"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1079","DOI":"10.1007\/s11430-012-4446-8","article-title":"Precise orbit determination of Beidou Satellites with precise positioning","volume":"55","author":"Shi","year":"2012","journal-title":"Sci. China Earth Sci."},{"key":"ref_16","first-page":"29","article-title":"What Is Achievable with the Current Compass Constellation?","volume":"11","author":"Ge","year":"2012","journal-title":"GPS World"},{"key":"ref_17","unstructured":"Gisbert, J.V.P., Batzilis, N., Risue\u00f1o, G.L., and Rubio, J.A. (2012, January 17\u201321). GNSS payload and signal characterization using a 3 m dish antenna. Proceedings of the ION GNSS 2012, Nashville, TN, USA."},{"key":"ref_18","first-page":"44","article-title":"Getting a Grip on Multi-GNSS the International GNSS Service MGEX Campaign","volume":"24","author":"Montenbruck","year":"2013","journal-title":"GPS World"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"639","DOI":"10.1007\/s10291-014-0423-3","article-title":"BeiDou satellite-induced code pseudorange variations: Diagnosis and therapy","volume":"19","author":"Wanninger","year":"2015","journal-title":"GPS Solut."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Geng, T., Xie, X., Zhao, Q., Liu, X., and Liu, J. (2017). Improving BDS integer ambiguity resolution using satellite-induced code bias correction for precise orbit determination. GPS Solut.","DOI":"10.1007\/s10291-017-0602-0"},{"key":"ref_21","first-page":"1","article-title":"Orbit determination and time synchronization for new-generation Beidou satellites: Preliminary results","volume":"46","author":"Chen","year":"2016","journal-title":"SCIENTIA SINICA Phys. Mech. Astron."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1007\/s10291-015-0496-7","article-title":"Modernization milestone: BeiDou M2-S initial signal analysis","volume":"20","author":"Xiao","year":"2015","journal-title":"GPS Solut."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1007\/s00190-015-0862-9","article-title":"Precise orbit determination for quad-constellation satellites at Wuhan University: Strategy, result validation, and comparison","volume":"90","author":"Guo","year":"2015","journal-title":"J. Geod."},{"key":"ref_24","first-page":"42","article-title":"IGS-MGEX: Preparing the ground for multi-constellation GNSS science","volume":"9","author":"Montenbruck","year":"2014","journal-title":"Inside GNSS"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1007\/BF02899825","article-title":"PANDA software and its preliminary result of positioning and orbit determination","volume":"8","author":"Liu","year":"2003","journal-title":"Wuhan Univ. J. Nat. Sci."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1007\/BF03655303","article-title":"Effects of antenna orientation on GPS carrier phase","volume":"18","author":"Wu","year":"1992","journal-title":"Manuscr. Geod."},{"key":"ref_27","first-page":"247","article-title":"Atmospheric Correction for Troposphere and Stratosphere in Radio Ranging of Satellites","volume":"15","author":"Saastamoinen","year":"1972","journal-title":"Geophys. Monogr. Ser."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1029\/2005GL025546","article-title":"Global Mapping Function (GMF): A new empirical mapping function based on numerical weather model data","volume":"33","author":"Boehm","year":"2006","journal-title":"Geophys Res. Lett."},{"key":"ref_29","unstructured":"McCarthy, D.D., and Petit, G. (2003). IERS Conventions 2003 (IERS Technical Note No. 32), International Earth Rotation and Reference Systems Service (IERS)."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1007\/PL00012757","article-title":"A new solar radiation pressure model for GPS","volume":"2","author":"Springer","year":"1999","journal-title":"GPS Solut."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"42","DOI":"10.1007\/PL00012778","article-title":"TEQC: The Multi-Purpose Toolkit for GPS\/GLONASS Data","volume":"3","author":"Estey","year":"1999","journal-title":"GPS Solut."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Zhao, Q., Wang, G., Liu, Z., Hu, Z., Dai, Z., and Liu, J. (2016). Analysis of BeiDou Satellite Measurements with Code Multipath and Geometry-Free Ionosphere-Free Combinations. Sensors, 16.","DOI":"10.3390\/s16010123"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/S0273-1177(02)00277-6","article-title":"The International Laser Ranging Service","volume":"30","author":"Pearlman","year":"2002","journal-title":"Adv. Space Res."},{"key":"ref_34","unstructured":"Epstein, M., Dass, T., Rajan, J., and Gilmour, P. (2007, January 26\u201329). Long-term clock behavior of GPS IIR satellites. Proceedings of the 39th Precise Time and Time Interval Meeting, Long Beach, CA, USA."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1007\/s00190-016-0968-8","article-title":"CODE\u2019s five-system orbit and clock solution\u2014The challenges of multi-GNSS data analysis","volume":"91","author":"Prange","year":"2017","journal-title":"J. Geod."},{"key":"ref_36","unstructured":"Hatch, R. (1982, January 8\u201312). The synergism of GPS code and carrier measurements. Proceedings of the Third International Symposium on Satellite Doppler Positioning at Physical Sciences Laboratory of New Mexico State University, Las Cruces, NM, USA."},{"key":"ref_37","unstructured":"Melbourne, W.G. (1985, January 15\u201319). The case for ranging in GPS-based geodetic systems. Proceedings of the 1st International Symposium on Precise Positioning with the Global Positioning System, Rockville, MD, USA."},{"key":"ref_38","unstructured":"W\u00fcbbena, G. (1985, January 15\u201319). Software developments for geodetic positioning with GPS using TI-4100 code and carrier measurements. Proceedings of the 1st International Symposium on Precise Positioning with the Global Positioning System, Rockville, MD, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/6\/1233\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:37:14Z","timestamp":1760207834000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/6\/1233"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,5,28]]},"references-count":38,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2017,6]]}},"alternative-id":["s17061233"],"URL":"https:\/\/doi.org\/10.3390\/s17061233","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,5,28]]}}}