With the completion of the BeiDou global navigation satellite system (BDS-3), the BeiDou Navigation Satellite System Signal In Space Interface Control Document Precise Point Positioning Service Signal PPP-B2b (Version 1.0) was officially announced, and BDS-3 officially broadcast PPP-B2b correction to broadcast ephemeris through geostationary earth orbit (GEO) satellites to provide precise point positioning services for users in the Asia–Pacific region. This study comprehensively analyzes the application of the PPP-B2b product to time transfer and positioning. On a daily basis, the PPP-B2b positioning accuracy after convergence is calculated using the four ionosphere-free (IF) combinations in static and simulated kinematic modes: BDS B1I/B3I, BDS B1C/B2a, BDS B1I/B3I + GPS, and BDS B1C/B2a + GPS. Observations of time laboratories including the National Time Service Center of the Chinese Academy of Sciences (NTSC) and the Telecommunication Laboratories (TL) are employed to conduct zero-baseline common clock difference (CCD) time comparison experiments and long-baseline time comparison experiments using the PPP-B2b product and the GBM product. The results indicate that the PPP-B2b position accuracy in static mode by only BDS is 1.5/2.7/3.9 cm, and by GPS + BDS is within 1.5/2.5/3.5 cm in North, East, and Up directions, respectively. Regarding simulated kinematic PPP-B2b, the average root mean square (RMS) values of the position errors in the North, East, and Up directions for the combination of BDS B1I/B3I + GPS and BDS B1I/B3I are 3.4/5.8/7.6 cm and 3.8/6.6/7.8 cm, respectively. Simultaneously, the average RMS values of position errors using BDS B1C/B2a + GPS and BDS B1C/B2a are 3.6/4.9/8.1 cm and 4/6.1/8.5 cm. In the time comparison study, the results of zero-baseline CCD using the PPP-B2b product and the GBM product are within the fluctuation range of 0.1 ns, respectively. Particularly, the long-baseline time comparison difference between results employing the PPP-B2b product and the GBM product is within the range of ±0.5 ns.

As a significant space–time infrastructure, the Global Navigation Satellite System (GNSS) provides high-precision positioning, navigation, and timing (PNT) information to users all over the world. However, GNSS real-time kinematic (RTK) mobile receiver signal attenuation is obvious in complex environments such as under trees, urban canyons, and indoors, among others, and it is incapable of meeting the demand of multi-level mass users for indoor and outdoor seamless positioning applications. The goal of this study was to address the limitations and vulnerabilities of the GNSS RTK positioning above-mentioned. First, we propose a GNSS RTK/UWB/DBA fusion positioning model and provide detailed algorithm steps for various types of observations. The performance of the GNSS RTK/UWB/DBA fusion positioning under various occlusion environments is then thoroughly evaluated using static and dynamic cart experiments. The experiment results show that as the elevation mask angle increases, the number of available GNSS satellites decreases and the ambiguity resolution success rate decreases; in comparison to GNSS RTK, the proposed GNSS RTK/UWB/DBA fusion positioning model can significantly improve the spatial geometry distribution of observations, reduce the position dilution of precision (PDOP) value, and improve the ambiguity resolution success rate. At an elevation mask angle of 50 degrees, GNSS RTK/UWB/DBA combination positioning can improve the ambiguity resolution success rate by 20% to 60%, and a positioning error less than 5 cm by 20% to 50%. It also indicates that the GNSS RTK/UWB/DBA fusion positioning model has higher positioning accuracy and can effectively improve the availability and reliability of GNSS RTK in a local harsh environment.

Although ground-based precipitable water vapor (PWV) can be obtained with a high temporal resolution and spatial resolution of tens of kilometers in an urban area using Global Navigation Satellite System (GNSS) observation, it remains fairly sparse in the vast regions over Mainland China. Satellite-derived PWV has a high spatial resolution, thereby enabling the accurate investigation of regional climate change. However, understanding the quality of satellite-derived PWV products is a prerequisite before use, which has become the focus of this study. PWV products, namely, MOD05_L2 and MYD05_L2, over the entirety of Mainland China derived from MODerate Resolution Imaging Spectroradiometer (MODIS) onboard Terra and Aqua satellites are validated over the period 2000–2017 using multiple sources, including GNSS, radiosonde, AErosol RObotic NETwork (AERONET), and European Center for Medium-Range Weather Forecasts ERA-Interim (ECMWF). The accuracy of MODIS PWV products is less than 4.3 mm over the entirety of Mainland China; however, it varies in four areas of South China (SC), North China (NC), Northwest China (NWC), and Tibetan Plateau (TP), separately with values ranging from 3 mm to 6 mm. A linear fit model is applied to calibrate the MODIS PWV products, and the accuracies of the corrected PWV from MODIS infrared (IR) and near-infrared (NIR) products have been improved by approximately 7.5% and 50.6%, respectively. The MODIS PWV is compared and calibrated in the four areas, and the improved accuracies vary widely. The root mean square error (RMSE) of IR PWV is approximately less than 4 mm over China except for the SC area with a value of approximately 5.3 mm after calibration, whereas the values of NIR PWV are approximately 2 mm over the entirety of Mainland China, except for the TP area, with a value of approximately 2.6 mm. The MODIS NIR PWV performs better than that of IR PWV data in most areas of Mainland China regardless of whether with calibration. The validation and calibration of MODIS water vapor products over Mainland China also indicate their capability to investigate the seasonal and annual variations as well as long-term trend changes in water vapor in China.

GNSS-only attitude determination is difficult to perform well in poor-satellite-tracking environments such as urban areas with high and dense buildings or trees. In addition, it is harder to resolve integer ambiguity in the case of single-frequency single-epoch process mode. In this contribution, a low-cost MEMS gyroscope is integrated with multi-antenna GNSS to improve the performance of the attitude determination. A new tightly coupled (TC) model is proposed, which uses a single filter to achieve the optimal estimation of attitude drift, gyro biases and ambiguities. In addition, a MEMS-Attitude-aided Quality-Control method (MAQC) for GNSS observations is designed to eliminate both the carrier multipath errors and half-cycle slips disturbing ambiguity resolution. Vehicle experiments show that in GNSS-friendly scenarios, the Ambiguity Resolution (AR) success rate of the proposed model with MAQC can reach 100%, and the accuracy of attitudes are (0.12, 0.2, 0.2) degrees for heading, pitch and roll angles, respectively. Even in harsh scenarios, the AR success rate increases from about 67% for the GNSS only case to above 90% after coupling GNSS tightly with MEMS, and it is further improved to about 98% with MAQC. Meanwhile, the accuracy and continuity of attitude determination are effectively guaranteed.