Global navigation satellite systems and positioning, navigation, and timing services, such as the newly developed BeiDou satellite system (BDS), require high-accuracy satellite observations. Satellite-induced code bias is present in BDS-2 satellite observations while it is negligibly present in BDS-3 satellite observations. The traditional method of mitigating BDS code bias involves two steps, first addressing multipath delay and then code bias, and does not obtain optimal results. A one-step strategy is therefore proposed to model and eliminate code bias and multipath delay considering BDS-2 and BDS-3 integrated processing. A combined least-square and autoregressive strategy is selected to estimate the model coefficients of code bias and construct the multipath delay with one solution. Moreover, inter-satellite correlations of BDS-2 and BDS-3 are extracted to improve the weight matrix in the estimation of model coefficients. To verify the proposed strategy, experiments are designed for eight schemes to analyze the coefficients and residuals of modelling code bias. Experimental results indicate that a more stable and accurate code bias model is acquired by introducing inter-satellite correlation; with the one-step strategy, the model residuals are reduced and a more optimal code bias model is output. Meanwhile, the single-frequency precise point positioning (PPP) and real-time PPP of BDS-2 and BDS-3 combined estimations are tested for different stations, frequencies, and code bias models. The results of final positions reveal that accuracy in the Up (U) direction is improved compared with that in the East (E) and North (N) directions; improvements are greater for B1I than for B3I. In general, the one-step strategy enhances the precision of single-frequency (B1I/B3I) PPP, especially in the U direction. However, the effects on BDS ultra-rapid orbit determination are negligible. Equally, the double-frequency real-time PPP solution is improved, compared with adopting the traditional method, by 10.6–64.9%, 0.0–59.1%, and 12.6–67.2% for E, N, and U directions, respectively, through BDS-2/BDS-3 integrated processing. The proposed one-step strategy therefore outperforms the two-step strategy in terms of rapidly processing high-precision BDS observations.

全球导航卫星系统以及定位，导航和授时服务，例如新开发的北斗卫星系统（BDS），都需要高精度的卫星观测。卫星引起的代码偏差在BDS-2卫星观测中存在，而在BDS-3卫星观测中则可以忽略不计。减轻BDS代码偏差的传统方法涉及两个步骤，首先是解决多路径延迟，然后是代码偏差，并且无法获得最佳结果。因此，考虑到BDS-2和BDS-3集成处理，提出了一种一步策略来建模和消除代码偏差和多径延迟。选择最小二乘和自回归相结合的策略来估计代码偏差的模型系数，并用一种​​解决方案构造多径延迟。此外，提取BDS-2和BDS-3的卫星间相关性以改善模型系数估计中的权重矩阵。为了验证所提出的策略，针对8种方案设计了实验，以分析建模代码偏差的系数和残差。实验结果表明，通过引入卫星间相关性可以得到一个更稳定，更准确的编码偏差模型。采用单步策略，减少了模型残差，并输出了更优化的代码偏差模型。同时，针对不同的电台，频率和代码偏差模型，测试了BDS-2和BDS-3组合估计的单频精确点定位（PPP）和实时PPP。最终位置的结果表明，与东（E）和北（N）方向相比，向上（U）方向的精度有所提高；与B3I相比，B1I的改进更大。通常，单步策略可以提高单频（B1I / B3I）PPP的精度，尤其是在U方向上。但是，对BDS超快速轨道确定的影响可以忽略不计。同样，与采用传统方法相比，双频实时PPP解决方案通过BDS分别在E，N和U方向上分别提高了10.6–64.9％，0.0–59.1％和12.6–67.2％ -2 / BDS-3集成处理。因此，在快速处理高精度BDS观测方面，建议的一步策略优于两步策略。对BDS超快速轨道确定的影响可以忽略不计。同样，与采用传统方法相比，双频实时PPP解决方案通过BDS分别在E，N和U方向上分别提高了10.6–64.9％，0.0–59.1％和12.6–67.2％ -2 / BDS-3集成处理。因此，在快速处理高精度BDS观测方面，建议的一步策略优于两步策略。对BDS超快速轨道确定的影响可以忽略不计。同样，与采用传统方法相比，双频实时PPP解决方案通过BDS分别在E，N和U方向上分别提高了10.6–64.9％，0.0–59.1％和12.6–67.2％ -2 / BDS-3集成处理。因此，在快速处理高精度BDS观测方面，建议的一步策略优于两步策略。