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Table 5 Averaged RMS of PPP-AR error in the up (U), north (N), and east (E) components (unit: cm)

From: A review of real-time multi-GNSS precise orbit determination based on the filter method

Computing methods

Averaged RMS in different components

U component

N component

E component

Filtering orbit products

2.7

1.2

1.2

Ultra-rapid orbit products

3.8

1.9

2.3