This paper provides the methodology and performance assessment of multi-GNSS signal processing for the detection of small-scale high-rate dynamic displacements. For this purpose, we used methods of relative (RTK) and absolute positioning (PPP), and a novel direct signal processing approach. The first two methods are recognized as providing accurate information on position in many navigation and surveying applications. The latter is an innovative method for dynamic displacement determination with the use of GNSS phase signal processing. This method is based on the developed functional model with parametrized epoch-wise topocentric relative coordinates derived from filtered GNSS observations. Current regular kinematic PPP positioning, as well as medium/long range RTK, may not offer coordinate estimates with subcentimeter precision. Thus, extended processing strategies of absolute and relative GNSS positioning have been developed and applied for displacement detection. The study also aimed to comparatively analyze the developed methods as well as to analyze the impact of combined GPS and BDS processing and the dependence of the results of the relative methods on the baseline length. All the methods were implemented with in-house developed software allowing for high-rate precise GNSS positioning and signal processing. The phase and pseudorange observations collected with a rate of 50 Hz during the field test served as the experiment’s data set. The displacements at the rover station were triggered in the horizontal plane using a device which was designed and constructed to ensure a periodic motion of GNSS antenna with an amplitude of ~3 cm and a frequency of ~4.5 Hz. Finally, a medium range RTK, PPP, and direct phase observation processing method demonstrated the capability of providing reliable and consistent results with the precision of the determined dynamic displacements at the millimeter level. Specifically, the research shows that the standard deviation of the displacement residuals obtained as the difference between a benchmark-ultra-short baseline RTK solution and selected scenarios ranged between 1.1 and 3.4 mm. At the same time, the differences in the mean amplitude of the oscillations derived from the established scenarios did not exceed 1.3 mm, whereas the frequency of the motion detected with the use of Fourier transformation was the same.

Two overlapping frequencies—L1/E1 and L5/E5a—in GPS and Galileo systems support the creation of mixed double-differences in a tightly combined relative positioning model. On the other hand, a tightly combined model makes it necessary to take into account receiver intersystem bias, which is the difference in receiver hardware delays. This bias is present in both carrier-phase and pseudorange observations. Earlier research showed that using a priori knowledge of earlier-calibrated ISB to correct GNSS observations has significant impact on ambiguity resolution and, therefore, precise positioning results. In previous research concerning ISB estimation conducted by the authors, small oscillations in phase ISB time series were detected. This paper investigates this effect present in the GPS–Galileo-IOV ISB time series. In particular, ISB short-term temporal stability and its dependence on the number of Galileo satellites used in the ISB estimation was examined. In this contribution we investigate the amplitude and frequency of the detected ISB time series oscillations as well as their potential source. The presented results are based on real observational data collected on a zero baseline with the use of different sets of GNSS receivers.

This study addresses the potential contribution of the first pair of Galileo FOC satellites sent into incorrect highly eccentric orbits for geodetic and surveying applications. We began with an analysis of the carrier to noise density ratio and the stochastic properties of GNSS measurements. The investigations revealed that the signal power of E14 & E18 satellites is higher than for regular Galileo satellites, what is related to their lower altitude over the experiment area. With regard to the noise of the observables, there are no significant differences between all Galileo satellites. Furthermore, the study confirmed that the precision of Galileo data is higher than that of GPS, especially in the case of code measurements. Next analysis considered selected domains of precise instantaneous medium-range positioning: ambiguity resolution and coordinate accuracy as well as observable residuals. On the basis of test solutions, with and without E14 & E18 data, we found that these satellites did not noticeably influence the ambiguity resolution process. The discrepancy in ambiguity success rate between test solutions did not exceed 2%. The differences between standard deviations of the fixed coordinates did not exceed 1 mm for horizontal components. The standard deviation of the L1/E1 phase residuals, corresponding to regular GPS and Galileo, and E14 & E18 satellite signals, was at a comparable level, in the range of 6.5–8.7 mm. The study revealed that the Galileo satellites with incorrect orbits were fully usable in most geodetic, surveying and many other post-processed applications and may be beneficial especially for positioning during obstructed visibility of satellites. This claim holds true when providing precise ephemeris of satellites.

The study presents the influence of strong total electron content (TEC) fluctuations occurring at high latitudes on rapid static positioning. The authors propose an algorithm mitigating the impact of dynamic temporal changes in electron content using the rate of TEC corrections. It consists of modifying the observations using the measured rate of TEC variations and hence allows reducing the number of parameters to one ionospheric delay of a reference epoch per satellite and per session. An analysis was carried out for a typical quiet day in solar minimum on September 6, 2009 and a disturbed day during high solar activity on March 17, 2013. For a standard geometry-based relative model with weighted ionosphere and troposphere, the results confirmed the dramatic drop of ambiguity resolution efficiency during a violent space weather event. The results obtained for the new algorithm, however, demonstrate its wide applicability and a 10-fold improvement in ambiguity success rate during the disturbed day.