Table 2 Details of GNSS data processing for positioning

Observables

DD phase and code GPS L1 and L2, Galileo E1 and E5a, BDS B1 and B2

Weighting scheme

Elevation-dependent weighting

Elevation cutoff angle

10°

Sampling interval

30 s

Sessions’ length

15 min

Geometry of the network, baseline selection strategy

STAR strategy with HETT as a hub station and four neighboring reference stations (KILP, KEV2, SOD3, KIR8) which constituted the reference network (Fig. 5)

Length of the baselines in rover solution

123–201 km

Troposphere delay modeling

A priori delays obtained from Saastamoinen model with Global Mapping Function supported with constrained estimation of residual ZTD

Ionosphere delay handling

Depending on the model: ionosphere-float, ionosphere-weighted, enhanced ionosphere-weighted model with RTC

A priori variance of ionospheric parameters

Corresponding to the level of the expected residual ionospheric delays

Solution type

Kinematic/static with ambiguity resolution

Ambiguities handling

Fixed to integers with M-Lambda (Chang et al. 2005)

A priori STD of observations

0.3 m and 0.002 m undifferenced code and phase signals, respectively

Satellite orbits and clocks

Broadcast

Estimation method

Recursive least squares adjustment, forward estimation