On 31 July 2020, the Beidou global navigation satellite system (BDS-3) was officially announced as being commissioned. In addition to offering global positioning, navigation, and timing (PNT) services, BDS-3 also provides precise point positioning (PPP) augmentation services. The satellite orbit correction, clock correction and code bias correction of BDS-3 and other global navigation satellite systems (GNSS) are broadcast by the BDS-3 geostationary earth orbit (GEO) satellites through the PPP-B2b signal. The PPP-B2b service is available for users in China and the surrounding area. In this study, an initial assessment of the PPP-B2b service is presented, with collected 3-day PPP-B2b messages. Based on broadcast ephemeris and PPP-B2b messages, the precise satellite orbits and clock offsets can be recovered. This precision is evaluated with the precise ephemeris from the GeoForschungsZentrum Potsdam (GFZ) analysis center as references. The results indicate that the accuracy of BDS-3 satellite orbits in the direction of radial, along-track, and cross-track is 0.138, 0.131, and 0.145 m, respectively, and for GPS a corresponding accuracy of 0.104, 0.160, and 0.134 m, respectively, could be obtained. The precision of clock offsets can reach a level of several centimeters for both GPS and BDS-3. Both the performance of static PPP and kinematic PPP are evaluated using the observations from four international GNSS monitoring assessment service (iGMAS) stations. Regarding static PPP, the average convergence time is 17.7 min to achieve a horizontal positioning accuracy of better than 0.3 m, and a vertical positioning accuracy of better than 0.6 m. The average positioning accuracy in the direction of east, north, and up-directions are 2.4, 1.6, and 2.3 cm. As to kinematic PPP, the average RMS values of positioning errors in the direction of east, north, and up are 8.1 cm, 3.6 cm, and 8.0 cm after full convergence.

Autonomous underwater vehicle (AUV) acoustic navigation is challenged by unknown system noise and gross errors in the acoustic observations caused by the complex marine environment. Since the classical unscented Kalman filter (UKF) algorithm cannot control the dynamic model biases and resist the influence of gross errors, an adaptive robust UKF based on the Sage-Husa filter and the robust estimation technique is proposed for AUV acoustic navigation. The proposed algorithm compensates the system noise by adopting the Sage-Husa noise estimation technique in an online manner under the condition that the system noise matrices are kept as positive or semi positive. In order to control the influence of gross errors in the acoustic observations, the equivalent gain matrix is constructed to improve the robustness of the adaptive UKF for AUV acoustic navigation based on Huber’s equivalent weight function. The effectiveness of the algorithm is verified by the simulated long baseline positioning experiment of the AUV, as well as the real marine experimental data of the ultrashort baseline positioning of an underwater towed body. The results demonstrate that the adaptive UKF can estimate the system noise through the time-varying noise estimator and avoid the problem of negative definite of the system noise variance matrix. The proposed adaptive robust UKF based on the Sage-Husa filter can further reduce the influence of gross errors while adjusting the system noise, and significantly improve the accuracy and stability of AUV acoustic navigation.

To meet the demands of civil aviation and other precise navigation applications, several satellite-based augmentation systems (SBASs) have been developed around the world, such as the Wide Area Augmentation System (WAAS) for North America, the European Geostationary Navigation Overlay Service (EGNOS) for Europe, the Multi-functional Satellite Augmentation System (MSAS) for Japan, the GPS (Global Positioning System) Aided GEO Augmented Navigation (GAGAN) for India, and the System for Differential Corrections and Monitoring (SDCM) for Russia. The SBASs broadcast messages to correct satellite orbit, clock, and ionosphere errors to augment the GPS positioning performance. In this paper, SBAS orbit, clock and ionospheric corrections are evaluated. Specifically, the orbit, clock and ionospheric corrections derived from SBAS messages are comprehensively evaluated using data collected from the above mentioned systems over 181 consective days. The evaluation indicates that the EGNOS outperforms other systems with signal-in-space range error (SISRE) at 0.645 m and ionospheric correction accuracy at 0.491 m, respectively. Meanwhile, the accuracy of SDCM is comparable to EGNOS with SISRE of 0.650 m and ionospheric correction accuracy of 0.523 m. For WAAS, the SISRE is 0.954 m and the accuracy of ionospheric correction is 0.505 m. The accuracies of the SBAS corrections from the MSAS and GAGAN systems, however, are significantly worse than those of others. The SISREs are 1.931 and 1.325 m and the accuracies of ionospheric corrections are 0.795 and 0.858 m, for MSAS and GAGAN, respectively. At the same time, GPS broadcast orbit, clock and ionospheric corrections are also evaluated. The results show that there are no significant improvements in the SISRE of the broadcast navigation data by applying SBAS corrections. On the other hand, the accuracy of SBAS ionospheric corrections is still much better than GPS broadcast ionospheric corrections, which could still be beneficial for single-frequency users.