Galileo high accuracy service performance and anomaly mitigation capabilities

Abstract Precise point positioning (PPP) and real-time kinematic techniques are interesting in several sectors, especially for autonomous applications. These users have high accuracy needs coupled with stringent requirements on continuity, availability, integrity, and convergence time, whose satisfaction can be challenging in harsh environments. Galileo launched on January 2023 the initial high accuracy service (HAS), a European free-of-charge PPP service with a worldwide coverage transmitted on E6 signals and provided through an internet connection. This paper characterizes the Galileo HAS product performance, including orbital errors, clock errors, code biases, and overall signal in space error (SISE), with live signals transmitted since HAS service declaration. The paper also presents the behavior of HAS SIS in the case of four satellite anomalies between September 2021 and August 2022, occurring for Galileo and GPS. Finally, the paper presents the results of HAS performance in both static open sky and road scenarios, showing a few-decimeter accuracy even in environments with degraded visibility. The paper shows the improvements in terms of robustness to satellite anomaly thanks to the Galileo HAS characteristics.