BDS/GPS relative positioning for long baseline with undifferenced observations

Before and after the official beginning of Beidou navigation satellite system (BDS) regional service on December 27, 2012, many applications based on BDS such as real-time kinematic (RTK) and precise point positioning (PPP) with real data have been considered in the literatures. However, lack of precise satellite antenna correction and relatively low quality of BDS orbit and clock product is an obstacle for PPP and relative positioning over long baseline using BDS observations. In this paper, the Double Station Observation Processing (DSOP) method that directly uses undifferenced data is applied to relative positioning. By estimating the satellite clock offsets on-the-fly, the satellite dependent unmodelled error can be compensated. Moreover, the direct use of undifferenced observation makes the method easy to implement and flexible to adapt observations of multiple systems. Experiment results demonstrate that relative positioning based on BDS observations can be achieved at centimeter accuracy level which is better than conventional PPP results with limited computation burden increase. These results also indicate the promising potential of BDS to develop real-time service.