Evaluation of Triple-Frequency GPS/Galileo/Beidou Kinematic Precise Point Positioning Using Real-Time CNES Products for Maritime Applications

Abstract Our research aims to evaluate the triple-frequency GPS/Galileo/BeiDou kinematic precise point positioning (PPP) accuracy for the international maritime organization (IMO) positioning accuracy and integrity requirements. The real-time Centre National d’Etudes Spatiales (CNES) satellite orbit and clock products are used to simulate real-time scenarios. GPS/Galileo/BeiDou observations are collected from a moving vessel. Both dual-frequency and triple-frequency ionosphere-free PPP models are developed. Different satellite system combinations are used, including GPS-only, GPS/Galileo, GPS/BeiDou, and GPS/Galileo/BeiDou. The GPS-only differential solution is used as a reference. It is found that both dual- and triple-frequency kinematic PPP solutions achieve the IMO accuracy requirements at 95% confidence level for ocean, coastal, port approach, port, inland waterways, and track control navigation applications, except the automatic docking application. Moreover, the PPP solutions fulfilled the IMO integrity requirements for all navigation phase applications, but the GPS and GPS/BeiDou PPP solutions did not fulfill the automatic docking integrity requirement.