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Table 3 Annual RMS statistics of the static PPP solution and kinematic PPP solution in East (E), North (N), and Up (U) directions and the convergence time (T) for a week in 2016, 2017, 2018a, and 2018b with the GPS and Galileo constellation, respectively

From: Analysis of Galileo signal-in-space range error and positioning performance during 2015–2018

Mode

GPS

Galileo

Combined GPS/GAL

 

E

N

U

T

E

N

U

T

E

N

U

T

Static

            

2016

3.8

6.7

10.2

26.7

15.8

11.0

21.6

64.5

3.8

6.5

13.5

24.1

2017

3.4

2.9

10.5

25.3

5.0

3.9

15.2

41.4

3.8

3.0

8.5

18.9

2018a

2.8

2.9

8.3

25.5

4.5

3.7

14.3

36.2

2.4

2.7

6.7

17.1

2018b

24.2

7.8

28.7

32.2

17.2

8.3

26.9

31.0

Kinematic

            

2016

21.4

15.3

44.6

46.5

47.7

44.7

62.8

125.4

20.8

16.5

44.5

38.8

2017

22.1

16.6

44.5

45.2

31.6

24.2

63.6

92.2

16.2

11.7

38.5

26.2

2018a

22.0

16.0

45.1

44.6

32.4

24.4

63.4

87.3

15.4

11.9

38.5

22.2

2018b

46.9

31.8

78.6

73.0

53.0

32.1

77.5

72.1

  1. 2018a and 2018b denote daily solutions based on the entire constellation and 3-h solutions based on 7 average visible satellites, respectively (unit: mm for ENU; min for T)