{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T16:24:28Z","timestamp":1773073468440,"version":"3.50.1"},"reference-count":36,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2020,11,11]],"date-time":"2020-11-11T00:00:00Z","timestamp":1605052800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2017YFB0504103"],"award-info":[{"award-number":["2017YFB0504103"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41071284"],"award-info":[{"award-number":["41071284"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["17lgpy43"],"award-info":[{"award-number":["17lgpy43"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The emergence of dual frequency global navigation satellite system (GNSS) chip actively promotes the progress of precise point positioning (PPP) technology in Android smartphones. However, some characteristics of GNSS signals on current smartphones still adversely affect the positioning accuracy of multi-GNSS PPP. In order to reduce the adverse effects on positioning, this paper takes Huawei Mate30 as the experimental object and presents the analysis of multi-GNSS observations from the aspects of carrier-to-noise ratio, cycle slip, gradual accumulation of phase error, and pseudorange residual. Accordingly, we establish a multi-GNSS PPP mathematical model that is more suitable for GNSS observations from a smartphone. The stochastic model is composed of GNSS step function variances depending on carrier-to-noise ratio, and the robust Kalman filter is applied to parameter estimation. The multi-GNSS experimental results show that the proposed PPP method can significantly reduce the effect of poor satellite signal quality on positioning accuracy. Compared with the conventional PPP model, the root mean square (RMS) of GPS\/BeiDou (BDS)\/GLONASS static PPP horizontal and vertical errors in the initial 10 min decreased by 23.71% and 62.06%, respectively, and the horizontal positioning accuracy reached 10 cm within 100 min. Meanwhile, the kinematic PPP maximum three-dimensional positioning error of GPS\/BDS\/GLONASS decreased from 16.543 to 10.317 m.<\/jats:p>","DOI":"10.3390\/s20226447","type":"journal-article","created":{"date-parts":[[2020,11,11]],"date-time":"2020-11-11T19:08:28Z","timestamp":1605121708000},"page":"6447","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Study on Multi-GNSS Precise Point Positioning Performance with Adverse Effects of Satellite Signals on Android Smartphone"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3955-8314","authenticated-orcid":false,"given":"Hongyu","family":"Zhu","sequence":"first","affiliation":[{"name":"School of Geography and Planning, Sun Yat-Sen University, Guangzhou 510000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linyuan","family":"Xia","sequence":"additional","affiliation":[{"name":"School of Geography and Planning, Sun Yat-Sen University, Guangzhou 510000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1074-6194","authenticated-orcid":false,"given":"Dongjin","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Geography and Planning, Sun Yat-Sen University, Guangzhou 510000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingchao","family":"Xia","sequence":"additional","affiliation":[{"name":"School of Civil Engineering, Guangzhou University, Guangzhou 510000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6091-3114","authenticated-orcid":false,"given":"Qianxia","family":"Li","sequence":"additional","affiliation":[{"name":"School of Geography and Planning, Sun Yat-Sen University, Guangzhou 510000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,11,11]]},"reference":[{"key":"ref_1","first-page":"43","article-title":"Precise GNSS for Everyone: Precise Positioning Using Raw GPS Measurements from Android Smartphones","volume":"27","author":"Banville","year":"2016","journal-title":"GPS World"},{"key":"ref_2","first-page":"36","article-title":"Google to Provide Raw GNSS Measurements","volume":"27","author":"Malkos","year":"2016","journal-title":"GPS World"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1088\/1361-6501\/ab8a7d","article-title":"Recent advances and perspectives for positioning and applications with smartphone GNSS observations","volume":"31","author":"Paziewski","year":"2020","journal-title":"Meas. Sci. Technol."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Humphreys, T.E., Murrian, M., van Diggelen, F., Podshivalov, S., and Pesyna, K.M. (2016, January 11\u201314). On the Feasibility of cm-Accurate Positioning via a Smartphone\u2019s Antenna and GNSS Chip. Proceedings of the 2016 IEEE\/Ion Position, Location and Navigation Symposium, Savannah, GA, USA.","DOI":"10.1109\/PLANS.2016.7479707"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2434","DOI":"10.3390\/s17102434","article-title":"Precise GNSS Positioning Using Smart Devices","volume":"17","author":"Eugenio","year":"2017","journal-title":"Sensors"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1007\/s10291-018-0736-8","article-title":"Quality assessment of GNSS observations from an Android N smartphone and positioning performance analysis using time-differenced filtering approach","volume":"22","author":"Zhang","year":"2018","journal-title":"GPS Solut."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1007\/s10291-019-0885-4","article-title":"Characteristics of raw multi-GNSS measurement error from Google Android smart devices","volume":"23","author":"Li","year":"2019","journal-title":"GPS Solut."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"98","DOI":"10.1007\/s10291-019-0892-5","article-title":"Signal characterization and assessment of code GNSS positioning with low-power consumption smartphones","volume":"23","author":"Paziewski","year":"2019","journal-title":"GPS Solut."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1007\/s10291-020-00978-z","article-title":"GNSS code and carrier phase observations of a Huawei P30 smartphone: Quality assessment and centimeter-accurate positioning","volume":"24","author":"Wanninger","year":"2020","journal-title":"Gps Solut."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Chen, B., Gao, C., Liu, Y., and Sun, P. (2019). Real-time Precise Point Positioning with a Xiaomi MI 8 Android Smartphone. Sensors, 19.","DOI":"10.3390\/s19122835"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Elmezayen, A., and El-Rabbany, A. (2019). Precise Point Positioning Using World\u2019s First Dual-Frequency GPS\/GALILEO Smartphone. Sensors, 19.","DOI":"10.3390\/s19112593"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Wu, Q., Sun, M.F., Zhou, C.J., and Zhang, P. (2019). Precise Point Positioning Using Dual-Frequency GNSS Observations on Smartphone. Sensors, 19.","DOI":"10.3390\/s19092189"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"5005","DOI":"10.1029\/96JB03860","article-title":"Precise point positioning for the efficient and robust analysis of GPS data from large networks","volume":"102","author":"Zumberge","year":"1997","journal-title":"J. Geophys. Res."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1007\/PL00012883","article-title":"Precise Point Positioning Using IGS Orbit and Clock Products","volume":"5","author":"Kouba","year":"2001","journal-title":"GPS Solut."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Linty, N., Lo Presti, L., Dovis, F., and Crosta, P. (2014, January 5\u20138). Performance analysis of duty-cycle power saving techniques in GNSS mass-market receivers. Proceedings of the 2014 Ieee\/Ion Position, Location and Navigation Symposium\u2014Plans 2014, Monterey, CA, USA.","DOI":"10.1109\/PLANS.2014.6851479"},{"key":"ref_16","first-page":"21","article-title":"Characterization of GNSS observations from a Nexus 9 Android tablet","volume":"23","year":"2018","journal-title":"GPS Solut."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"2358","DOI":"10.1016\/j.asr.2019.01.004","article-title":"Quality analysis of multi-GNSS raw observations and a velocity-aided positioning approach based on smartphones","volume":"63","author":"Liu","year":"2019","journal-title":"Adv. Space Res."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Lachapelle, G., and Gratton, P. (2019, January 11\u201313). GNSS Precise Point Positioning with Android Smartphones and Comparison with High Performance Receivers. Proceedings of the 2019 IEEE International Conference on Signal, Information and Data Processing (ICSIDP), Chongqing, China.","DOI":"10.1109\/ICSIDP47821.2019.9173062"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Gill, M., Bisnath, S., Aggrey, J., Seepersad, G., and Inst, N. (2017, January 25\u201329). Precise Point Positioning (PPP) using Low-Cost and Ultra-Low-Cost GNSS Receivers. Proceedings of the 30th International Technical Meeting of the Satellite Division of the Institute of Navigation, Washington, DC, USA.","DOI":"10.33012\/2017.15123"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1593","DOI":"10.1007\/s10291-017-0633-6","article-title":"Cycle slip detection and repair of undifferenced single-frequency GPS carrier phase observations","volume":"21","author":"Sharifi","year":"2017","journal-title":"GPS Solut."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1007\/s10291-020-00993-0","article-title":"High-rate Doppler-aided cycle slip detection and repair method for low-cost single-frequency receivers","volume":"24","author":"Zhao","year":"2020","journal-title":"GPS Solut."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"1781","DOI":"10.1007\/s00190-019-01281-7","article-title":"Single-frequency GNSS cycle slip estimation with positional polynomial constraint","volume":"93","author":"Li","year":"2019","journal-title":"J. Geod."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Boehm, J., Niell, A., Tregoning, P., and Schuh, H. (2006). Global Mapping Function (GMF): A new empirical mapping function based on numerical weather model data. Geophys. Res. Lett., 33.","DOI":"10.1029\/2005GL025546"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Banville, S., Lachapelle, G., Ghoddousi-Fard, R., Gratton, P., and Inst, N. (2019, January 16\u201320). Automated Processing of Low-Cost GNSS Receiver Data. Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, Washington, DC, USA.","DOI":"10.33012\/2019.16972"},{"key":"ref_25","unstructured":"Ward, P. (1996). Satellite signal acquisition and tracking. Understanding GPS: Principles and Applications, Artech House Publishers."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1007\/s001900050242","article-title":"GPS signal diffraction modelling: The stochastic SIGMA-\u03b4 model","volume":"73","author":"Brunner","year":"1999","journal-title":"J. Geod."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1007\/PL00012765","article-title":"Variances of GPS Phase Observations: The SIGMA-\u025b Model","volume":"2","author":"Hartinger","year":"1999","journal-title":"GPS Solut."},{"key":"ref_28","unstructured":"Witchayangkoon, B. (2000). Elements of GPS precise point positioning. Spatial Information Science and Engineering, University of Maine."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Guo, L., Wang, F.H., Sang, J.Z., Lin, X.H., Gong, X.W., and Zhang, W.W. (2020). Characteristics Analysis of Raw Multi-GNSS Measurement from Xiaomi Mi 8 and Positioning Performance Improvement with L5\/E5 Frequency in an Urban Environment. Remote Sens., 12.","DOI":"10.3390\/rs12040744"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1007\/s10291-007-0081-9","article-title":"Unscented Kalman filter with nonlinear dynamic process modeling for GPS navigation","volume":"12","author":"Jwo","year":"2008","journal-title":"Gps Solut."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1007\/s001900000157","article-title":"Adaptively robust filtering for kinematic geodetic positioning","volume":"75","author":"Yang","year":"2001","journal-title":"J. Geod."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1088\/0957-0233\/25\/10\/105011","article-title":"Adaptive robust Kalman filtering for precise point positioning","volume":"25","author":"Guo","year":"2014","journal-title":"Meas. Sci. Technol."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1007\/s00190-002-0256-7","article-title":"Robust estimator for correlated observations based on bifactor equivalent weights","volume":"76","author":"Yang","year":"2002","journal-title":"J. Geod."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"4176","DOI":"10.1109\/JSEN.2018.2820097","article-title":"An Improved Robust Adaptive Kalman Filter for GNSS Precise Point Positioning","volume":"18","author":"Zhang","year":"2018","journal-title":"IEEE Sens. J."},{"key":"ref_35","unstructured":"Kouba, J. (2009). A Guide to Using International GNSS Service (IGS) Products, Geodetic Survey Division, Natural Resources Canada."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"279","DOI":"10.1007\/BF02521844","article-title":"Contributions to the theory of atmospheric refraction","volume":"105","author":"Saastamoinen","year":"1972","journal-title":"Bull. G\u00e9od\u00e9sique (1946\u20131975)"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/22\/6447\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:32:15Z","timestamp":1760178735000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/22\/6447"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,11,11]]},"references-count":36,"journal-issue":{"issue":"22","published-online":{"date-parts":[[2020,11]]}},"alternative-id":["s20226447"],"URL":"https:\/\/doi.org\/10.3390\/s20226447","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,11,11]]}}}