Table 3 The average convergence time of PPP float and fix solutions in the 3-D direction.

From: GPS Galileo BDS3 LEO uncalibrated phase delays estimation and tight combination precise point positioning with ambiguity resolution

System

High latitudes

Medium latitudes

Low latitudes

Float solutions

Fix solutions

Float solutions

Fix solutions

Float solutions

Fix solutions

Time (min)

Time (min)

Time (min)

Time (min)

Time (min)

Time (min)

G

10.80

9.73

13.78

12.48

14.46

13.06

G/L

2.02

1.83

2.51

2.25

2.89

2.78

E

11.00

10.69

13.85

13.39

14.23

13.79

E/L

2.06

1.86

2.37

2.21

2.90

2.79

C

12.31

11.96

14.88

14.40

15.27

14.87

C/L

2.08

1.97

2.45

2.35

2.82

2.75

G/E

8.24

2.56

11.05

8.39

12.23

9.66

G/E/L

1.96

1.78

2.43

2.16

2.85

2.65

G/C

8.74

7.66

11.53

9.86

12.25

10.64

G/C/L

1.98

1.81

2.40

2.24

2.84

2.70

E/C

8.81

8.39

11.16

10.43

12.35

12.51

E/C/L

2.02

1.86

2.34

2.20

2.79

2.67

G/E/C

7.19

5.74

9.66

7.31

10.62

8.46

G/E/C/L

1.92

1.74

2.36

2.07

2.76

2.58

  1. Abbreviations: G: global positioning system (GPS); E: Galileo satellite navigation system (Galileo); C: BeiDou-3 navigation satellite system (BDS-3); L: low-Earth orbit satellites (LEO); Time: convergence time; 3-D: 3-dimension.
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