Stochastic modeling of the receiver clock parameter in Galileo-only and multi-GNSS PPP solutions

Abstract In Precise Point Positioning (PPP), the receiver clock parameter is typically estimated independently in each observation epoch, which increases the noise of the estimated station coordinates and troposphere parameters due to correlations. Applying stochastic modeling to the receiver clock parameter stabilizes PPP solutions and reduces clock noise for the time transfer. However, the receiver clock modeling is possible only for the GNSS receivers connected to the utmost stable atomic clocks. We propose receiver clock modeling that involves the Markov stochastic process in the form of a random walk. We test different levels of random walk constraints for GNSS stations equipped with different types of clocks for Galileo-only and multi-GNSS solutions in kinematic and static PPP. In multi-GNSS solutions, the common clock parameter is derived with inter-system biases (ISBs). This raises the question of the constraints that should be imposed on the common clock only or also on the ISBs. We found that similar results can be achieved by imposing constraints on the common clock parameter and estimating ISB as a constant parameter and when constraining the common clock parameter and ISBs with a ratio of 1:100. Other ratios of clock-to-ISB constraints, such as 1:1 and 1:10, give inferior results. In the kinematic PPP, stochastic clock modeling has a marginal impact on the North and East coordinate components, whereas the Up component is substantially improved for GNSS receivers equipped with hydrogen masers. In the static PPP, the clock modeling improves the time transfer, due to the reduced noise of the clocks.