{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T18:03:00Z","timestamp":1781373780074,"version":"3.54.1"},"reference-count":42,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2020,10,23]],"date-time":"2020-10-23T00:00:00Z","timestamp":1603411200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41904030"],"award-info":[{"award-number":["41904030"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41904025"],"award-info":[{"award-number":["41904025"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Natural Science Foundation of Hunan Province, China","award":["2020JJ5706"],"award-info":[{"award-number":["2020JJ5706"]}]},{"name":"Opening Foundation of Hunan Engineering and Research Center of Natural Resource Investigation and Monitoring","award":["2020-3"],"award-info":[{"award-number":["2020-3"]}]},{"name":"Guangxi Key Laboratory of Spatial Information and Geomatics","award":["19-050-11-09"],"award-info":[{"award-number":["19-050-11-09"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>For time-critical precise applications, one popular technology is the real-time precise point positioning (PPP). In recent years, there has been a rapid development in the BeiDou Navigation Satellite System (BDS), and the constellation of global BDS (BDS-3) has been fully deployed. In addition to the regional BDS (BDS-2) constellation, the real-time stream CLK93 has started to support the BDS-3 constellation, indicating that the real-time PPP processing involving BDS-3 observations is feasible. In this study, the global positioning performance of real-time PPP with BDS-3\/BDS-2 observations is initially evaluated using the datasets from 147 stations. In the east, north and upward directions, positioning accuracy of 1.8, 1.2 and 2.5 cm in the static mode, and of 6.7, 5.1 and 10.4 cm in the kinematic mode can be achieved for the BDS-3\/BDS-2 real-time PPP, respectively, while the corresponding convergence time with a threshold of 10 cm is 32.9, 23.7 and 32.8 min, and 66.9, 42.9 and 69.1 min in the two modes in the three directions, respectively. To complete this, the availability of BDS-3\/BDS-2 constellations, the quality of BDS-3\/BDS-2 real-time precise satellite products, and the BDS-3\/BDS-2 post-processed PPP solutions are also analyzed. For comparison, the results for the GPS are also presented.<\/jats:p>","DOI":"10.3390\/s20216027","type":"journal-article","created":{"date-parts":[[2020,10,23]],"date-time":"2020-10-23T08:59:28Z","timestamp":1603443568000},"page":"6027","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Performance Evaluation of Real-Time Precise Point Positioning with Both BDS-3 and BDS-2 Observations"],"prefix":"10.3390","volume":"20","author":[{"given":"Lin","family":"Pan","sequence":"first","affiliation":[{"name":"School of Geosciences and Info-Physics, Central South University, Changsha 410083, China"},{"name":"Guangxi Key Laboratory of Spatial Information and Geomatics, Guilin 541004, China"},{"name":"Hunan Institute of Surveying and Mapping Technology, Changsha 410007, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuanping","family":"Li","sequence":"additional","affiliation":[{"name":"School of Geosciences and Info-Physics, Central South University, Changsha 410083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1737-4925","authenticated-orcid":false,"given":"Wenkun","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Geosciences and Info-Physics, Central South University, Changsha 410083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1606-117X","authenticated-orcid":false,"given":"Wujiao","family":"Dai","sequence":"additional","affiliation":[{"name":"School of Geosciences and Info-Physics, Central South University, Changsha 410083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cuilin","family":"Kuang","sequence":"additional","affiliation":[{"name":"School of Geosciences and Info-Physics, Central South University, Changsha 410083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fade","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pengfei","family":"Xia","sequence":"additional","affiliation":[{"name":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,23]]},"reference":[{"key":"ref_1","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":"2013","journal-title":"GPS Solut."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"9435","DOI":"10.3390\/s130709435","article-title":"BeiDou inter-satellite-type bias evaluation and calibration for mixed receiver attitude determination","volume":"13","author":"Nadarajah","year":"2013","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1007\/s10291-014-0392-6","article-title":"The mixed-receiver BeiDou inter-satellite-type bias and its impact on RTK positioning","volume":"19","author":"Nadarajah","year":"2015","journal-title":"GPS Solut."},{"key":"ref_4","unstructured":"Odolinski, R., Teunissen, P.J.G., and Odijk, D. 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