The single initial Global Positioning System (GPS) has been expanded into multiple global and regional navigation satellite systems (multi-GNSS/RNSS) as the Global Navigation Satellite System (GLONASS) is restored and the BeiDou Navigation Satellite System (BDS), Galileo Satellite Navigation System (Galileo) and Quasi-Zenith Satellite System (QZSS) evolve. Using the differences among these five systems, the paper constructs a consolidated multi-GNSS/RNSS precise point positioning (PPP) observation model. A large number of datasets from Multi-GNSS Experiment (MGEX) stations are employed to evaluate the PPP performance of multi-GNSS/RNSS. The paper draws three main conclusions based on the experimental results. (1) The combined GPS/GLONASS/Galileo/BDS/QZSS presents the PPP with the shortest mean convergence time of 11·5 min, followed by that of GPS/GLONASS/Galileo/BDS (12·4 min). (2) The combined GPS/GLONASS/BDS/Galileo/QZSS shows the optimal PPP performance when the cut-off elevation angle is basically the same because of the rich observation data due to a large number of satellites. To be specific, for combined GPS/GLONASS/BDS/Galileo/QZSS, the PPP convergence percentage is 80·9% higher relative to other combined systems under 35° cut-off elevation angle, and the percentages of the root mean square values of PPP within 0–5 cm are enhanced by 80·5%, 81·5% and 87·3% in the North, East and Up directions relative to GPS alone at 35° cut-off elevation angle. (3) GPS alone fails to conduct continuous positioning due to the insufficiency of visible satellites at 40° cut-off elevation angle, while the kinematic PPP of multi-GNSS/RNSS remains capable of obtaining positioning solutions with relatively high accuracy, especially in the horizontal direction.

中文翻译：

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评估多 GNSS/RNSS 中精确点定位的最新性能：GPS、GLONASS、BDS、Galileo 和 QZSS

随着全球导航卫星系统 (GLONASS) 的恢复和北斗卫星导航系统 (BDS)、伽利略卫星的恢复，单一的初始全球定位系统 (GPS) 已扩展到多个全球和区域导航卫星系统 (multi-GNSS/RNSS)导航系统（伽利略）和准天顶卫星系统（QZSS）不断发展。利用这五个系统之间的差异，本文构建了一个统一的多GNSS/RNSS精密单点定位（PPP）观测模型。使用来自多GNSS实验（MGEX）站的大量数据集来评估多GNSS / RNSS的PPP性能。本文根据实验结果得出三个主要结论。(1) GPS/GLONASS/Galileo/BDS/QZSS组合呈现的PPP平均收敛时间最短为11·5 min，其次是 GPS/GLONASS/Galileo/BDS（12·4 分钟）。(2) GPS/GLONASS/BDS/Galileo/QZSS组合在截止仰角基本相同时，由于卫星数量多，观测数据丰富，PPP性能最优。具体来说，对于GPS/GLONASS/BDS/Galileo/QZSS组合，35岁以下的其他组合系统的PPP收敛百分比比其他组合系统高80·9%。°截止仰角，0~5 cm 范围内 PPP 均方根值的百分比在北、东、上方向相对 GPS 分别提高了 80·5%、81·5% 和 87·3% 35岁一个人°截止仰角。(3) 40°可见卫星不足，单靠GPS无法进行连续定位°截止仰角，而多 GNSS/RNSS 的运动学 PPP 仍然能够获得精度较高的定位解，尤其是在水平方向。