Performance analysis of oceanographic research vessel precise point positioning based on BDS/GNSS RTK receivers

With the completion of the BeiDou Global system (BDS3), multi-GNSS is expected to provide better marine positioning services. However, its performance on high-velocity vessels in remote marine environments has not been evaluated. Therefore, this paper aims to use two integrated real-time kinematic (RTK) receivers to evaluate the performance of BDS/GNSS remote marine kinematic precise point positioning (PPP). Firstly, the single-system positioning performance was compared. Then, two multi-GNSS PPP accuracy evaluation methods based on the ellipsoidal height difference of two receivers and the ultrashort baseline fixed solution were designed, and the Up-direction RMS values were 0.086 and 0.087 m, respectively. With the contribution of the multi-GNSS, although the multipath and noise RMS values between the marine and ground environments were about 2.87 and 1.58 times for two RTK receivers, the low-cost RTK receiver can achieve high-precision kinematic marine PPP with the three-dimensional RMS better than 10 cm.