Table 3 Real-time filtering orbit determination dynamics and observation models

Geopotential

Earth Gravitational Model 2008 (EGM2008) (Pavlis et al., 2012), 12 × 12

N-body gravity

Sun, Moon, Mercury, Venus, Mars, Jupiter, Saturn, Uranus, Neptune, and Pluto

Tidal forces

Solid Earth; pole tide: 2010 IERS conventions (Petit & Luzum, 2010); ocean tide: FES2004 (Lyard et al., 2006)

Solar radiation pressure

GPS BLOCK IIA, IIR, III: Empirical CODE Orbit Model 2 (ECOM2) 7-parameter (Arnold et al., 2015)

GPS BLOCK IIF, GLONASS: ECOM1 5-parameter (Springer et al., 1999)

Galileo: Bow-wing (Rodriguez-Solano et al., 2012) + ECOM1 5-parameter, satellite properties from GSA (2017) implemented

Earth albedo

Model correction considering antenna thrust (Rodriguez-Solano et al., 2011)

Relativistic effects

IERS conventions 2010 (Petit & Luzum, 2010)

Basic observables

Undifferenced ionosphere-free combination of the code and phase based on GPS L1/L2, Galileo E1/E5a, GLONASS L1/L2

Processing sampling

30 s

Cutoff elevation

7°

Weighting

Elevation-dependent weight

Satellite antenna phase center

Phase Center Offsets (PCOs) and Phase Center Variations (PCVs) from the IGS MGEX

Receiver phase center

igs14.atx

Phase wind-up

Model correction proposed by Wu et al. (1993)

Tropospheric delay

Saastamoinen model+random walk process (Saastamoinen, 1972)

Ambiguity

Fixed for GPS/Galileo satellites only