Fig. 5
From: A review of real-time multi-GNSS precise orbit determination based on the filter method
Average orbit accuracy of filtering solutions and ultra-rapid products for GPS, Galileo, and GLONASS satellites compared with the final products of CODE from DOY 061 to 072, 2021. The 1–2 h predicted part of ultra-rapid products from WHU (wum) are used for comparison. The symbols of G, E and R refer to GPS, Galileo and GLONASS, respectively. The symbols of ‘Filter’, ‘Filter-AR’ and ‘Ultra’ mean the orbit products of filter solutions without AR, the orbit products of filter solutions with AR and the ultra-rapid orbit products, respectively (Table 5)