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Continuity is one of the metrics that characterize the required navigation performance of global navigation satellite system (GNSS)-based applications. Data outage due to receiver failure is one of the reasons for continuity loss. Although a multi-receiver configuration can maintain position solutions in case a receiver has data outage, the initialization of the receiver will also cause continuous high-precision positioning performance loss. To maintain continuous high-precision positioning performance of real-time precise point positioning (RT-PPP), we proposed a continuity enhancement method for RT-PPP based on zero-baseline constraint of multi-receiver. On the one hand, the mean time to repair (MTTR) of the multi-receiver configuration is improved to maintain continuous position solutions. On the other hand, the zero-baseline constraint of multi-receiver including between-satellite single-differenced (BSSD) ambiguities, zenith troposphere wet delay (ZWD), and their suitable stochastic models are constructed to achieve instantaneous initialization of back-up receiver. Through static and kinematic experiments based on real data, the effectiveness and robustness of proposed method are evaluated comprehensively. The experiment results show that the relationship including BSSD ambiguities and ZWD between receivers can be determined reliably based on zero-baseline constraint, and the instantaneous initialization can be achieved without high-precision positioning continuity loss in the multi-receiver RT-PPP processing.

Continuity Enhancement Method for Real-Time PPP Based on Zero-Baseline Constraint of Multi-Receiver