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Table 4 The averaged RMS (cm) in three coordinate components of East (E), North (N) and Up (U) as well as the convergence time (Abbreviated as CT in Table) (min) of RT kinematic single-system PPP errors for GPS, Galileo and BDS systems with the products from different ACs

From: Comprehensive assessment of real-time precise products from IGS analysis centers

AC GPS Galileo BDS
E N U CT E N U CT E N U CT
IGS03 6.18 5.25 12.48 38.34
NRC 3.90 3.92 8.67 40.78
BKG 4.17 3.37 6.91 69.76
CNE0 3.59 2.99 6.00 43.10 4.58 3.86 7.93 67.74 5.63 3.66 6.14 52.32
DLR 6.94 6.98 12.81 49.00 7.74 5.89 12.30 102.3
ESA 2.85 2.15 6.08 33.85
GFZ 2.48 1.97 5.67 34.80 4.45 3.74 8.12 75.17
GMV 3.40 2.29 6.51 45.38 4.79 4.03 8.76 80.63
WHU 2.79 1.91 6.41 35.37 6.78 4.62 10.13 91.14 6.43 4.45 9.31 61.4