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If the associated differential inter-system biases (DISBs) are priori known, only one common reference satellite is sufficient, which is called the inter-system model. The inter-system model can help to maximize the redundancy of the positioning model, and thus can improve the positioning performance, especially in harsh environment. However, in practice use not all receivers can be calibrated with DISBs in advance. In this paper, taking combined GPS and BDS pseudorange positioning as the example, we compare three positioning models and their positioning performance. One is traditional intra-system model, and the other two belongs to the inter-system models, i. e. the model with calibration of DISB and the model with real-time estimation of DISB parameter. Positioning performance using the three models is evaluated with simulated obstructed environments. It will be shown that besides the model with calibration of DISB, the model with real-time estimation of DISB parameter can also effectively improve positioning accuracy and reliability compared with the traditional intra-system model, especially for the severely obstructed environment with only a few satellites observed. When no more than 7 satellites visible, the positioning accuracies in each directions can be improved by no less than 15 %. The proposed model can be used alternatively when no priori DISB calibration is available.

Accounting for the differential inter-system bias (DISB) of code observation in GPS+BDS positioning