Performance Evaluation of Low-Cost and Real-Time Multi-GNSS Advanced Demonstration Tool for Orbit and Clock Analysis-Precise Point Positioning (MADOCA-PPP) Receiver Systems

With Multi-GNSS Advanced Demonstration Tool for Orbit and Clock Analysis (MADOCA), a software estimator of precise satellite information, by JAXA, u-blox C099 ZED-F9P and MSJ-3008-GM4-QZS using MADOCA-PPP can be exploited in GNSS applications that require sub-decimeter accuracy without being costly. To evaluate their performance, convergence time and accuracy of solutions are compared to Trimble NetR9, a survey-grade receiver. Post-processed PPP solutions of ZED-F9P were computed using RTKLIB and real-time PPP was provided by the MSJ-3008-GM4-QZS. Results showed ZED-F9P achieved an RMS of 5.28 cm, 2.89 cm, and 9.55 cm in East, North, and Up directions. This means ZED-F9P can be used in applications requiring below 10 cm accuracy even without base station. MSJ-3008-GM4-QZS obtained an RMS of 10.45 cm, 6.27 cm, and 27.56 cm in the same directions. Unlike ZED-F9P, it achieved above 10 cm accuracy in North and Up directions which is due to large errors from cycle slips and jumps in observations. Interestingly, no fixed solutions were achieved between the 20:00 to 21:00 UTC period, although said receiver was able to receive corrections. However, if the observations after 20:00 UTC were removed, the MSJ-3008-GM4-QZS improved to 7.17 cm, 3.58 cm, and 22.32 cm in the same directions. Keywords— MADOCA-PPP, GNSS, RTKLIB ______________________________________________________________________________