Testing the ionospheric model delay and uncertainty estimates with an uncombined navigation filter

In the last decade, new algorithmic positioning techniques have been developed for Global Navigation Satellite Systems (GNSS). These have brought a new focus on high accuracy applications which do not combine multiple frequencies to remove ionospheric errors (i.e. PPP-RTK, Fast-PPP). Not only do these algorithms focus on improvements in the position domain but also in acquiring the positioning solution as fast as possible. In this work, capabilities of different global ionospheric models are assessed, analyzing both the Ionospheric delay accuracy and the associated model uncertainty. Accurate model uncertainties are crucial for reducing the convergence time in uncombined filters, and to guarantee unbiased convergence in the first place. The assessment is done using an uncombined navigation filter with different ionospheric models: GPS ICA, IGS vTEC (vertical Total Electron Content) maps (IGSG, CODG and UQRG), two realizations of the ESA-UGI (Voxel and Multi-Layer), the Madrigal TEC, and the Spire Global vTEC maps. To quantify the model uncertainties without the use of a reference ionospheric model, global maps of an uncertainty inflation factor are computed to show the inflation required to produce optimal filter convergence. These maps demonstrate that some models are too optimistic in the reporting of their own uncertainty estimates, requiring an uncertainty factor up to 10 times the quoted value.