Precise point positioning with mixed single- and dual-frequency GNSS observations from Android smartphones considering code-carrier inconsistency

The open access to raw Global Navigation Satellite System (GNSS) measurements from Android smartphones brings new possibilities to high-accuracy positioning with precise point positioning (PPP) technique. However, decimeter or even centimeter level positioning accuracy is still challengeable mainly due to the low completeness of dual-frequency observations and specific observation errors from a smartphone. Huawei P40 released in 2020 is the first module that can track multi-GNSS multi-frequency signals. Based on GNSS observations from P40 and a co-located geodetic-grade receiver, a method is proposed to extract and model the P40 code-carrier inconsistency errors. The P40 observation inconsistency presents a linear drift pattern with respect to time at each frequency and can even reach hundreds of meters. A correction model is then established which reduces the code-carrier differences to a level of few meters. Regarding to the P40 code-carrier inconsistency error signature, an uncombined precise point positioning (PPP) algorithm is developed with the inconsistency error treated with different schemes, including correction using established model, parameterization as a linear function, or estimated as an independent clock offset for carrier-phase observation. Meanwhile, to cope with the dual-frequency data deficiency of P40, the PPP algorithm is designed based on pure single-frequency processing which can handle mixed single- and dual- frequency observations. Positioning performances of three schemes are validated in both static and kinematic scenarios. With applying the code-carrier inconsistency schemes, P40 positioning precision reaches 0.2 m and 1.0 m for static and kinematic experiments, respectively, which is improved by an order of magnitude against the case without. Furthermore, precision can be even improved when P40 is equipped with an external geodetic-grade antenna. It reaches 5.8 and 18.2 cm in the static and kinematic tests, respectively, revealing improvements of 28.7% and 54.4% against the case without considering the inconsistencies, respectively. Such result is very encouraging and indicate a positioning accuracy level close to a geodetic receiver. (c) 2023 COSPAR. Published by Elsevier B.V. All rights reserved.