Fig. 3

Fault detection tests, i.e. checking if the absolute post-fit residuals are less than empirical thresholds, for code and carrier-phase measurements with PPP-Wizard; the fault detection test was preformed group by group for different signals and constellations; threshold values were set to 10 m and 0.05 m for code and carrier-phase, respectively. Scatters with different colours represent different satellites