Multi-GNSS clock combination with consideration of inconsistent nonlinear variation and satellite-specific bias

Earth, Planets and Space

Table 5 Statistics of the transformation parameters for multi-GNSS integrated PPP with respect to IGS daily coordinates. ‘WMC’ indicates a PPP solution using the combined orbit and clock

Solution	DX	DY	DZ	RX	RY	RZ	Scale
Solution	mm	mm	mm	uas	uas	uas	ppb
COM	−0.2 ± 1.0	−1.8 ± 1.2	0.8 ± 1.1	21 ± 19	13 ± 23	−30 ± 29	−0.32 ± 0.18
ESM	−0.6 ± 0.9	−0.3 ± 0.8	−0.2 ± 0.9	15 ± 17	8 ± 17	−13 ± 24	−0.20 ± 0.10
GFM	0.1 ± 0.8	−1.0 ± 0.9	−0.9 ± 0.9	24 ± 18	20 ± 19	15 ± 32	−0.11 ± 0.11
GRM	1.2 ± 1.1	−0.8 ± 1.1	−1.5 ± 1.2	79 ± 21	7 ± 25	29 ± 61	−0.13 ± 0.14
JAM	0.6 ± 1.2	−0.3 ± 1.4	0.8 ± 1.6	3 ± 26	48 ± 32	−49 ± 32	−0.00 ± 0.10
WUM	−0.6 ± 1.8	−0.1 ± 2.3	−3.8 ± 2.6	17 ± 38	−4 ± 39	−1 ± 43	−0.13 ± 0.10
WMC	−0.2 ± 0.8	−0.8 ± 1.0	−0.7 ± 1.0	17 ± 18	1 ± 18	−24 ± 24	−0.15 ± 0.10