## 3 Experimental Results and Analysis
### Real Signal Experiments  
To comprehensively validate the proposed method in real-world scenarios, we compared the single-point positioning performance of 2 SP, MRG, and ADBO--identified as the top three algorithms based on their superior performance in simulation results shown in Tables 7 and 9--under both fine and poor satellite geometry in the simulation experiments. It is worth noting that, unlike the simulation-based tests in Section 3.1, the following experiments rely solely on real GNSS signal data. We used a NovAtel antenna and an OlinkStar GNSS signal record and playback instrument to collect raw intermediate frequency (IF) data. The GNSS signal recorder was configured to collect raw data at a 4.42 MHz IF with 4-bit quantization. The sampling frequency was set to 25 MHz. The GNSS data collection equipment and the layout of the antennas are shown in the last subfigure of Figure 9.  
In the static receiver scenario, GNSS IF data were collected on 6 August 2019, at the West Playground of Huazhong University of Science and Technology in Wuhan, China. For the dynamic receiver scenario, data were collected on 11 June 2019, along Yujia Road at the same university. Both scenarios took place in an open-sky environment. In each scenario, a 40-s GPS L1 C/A dataset was collected, utilizing seven satellites for the analysis. The detailed specifications of the datasets are listed in Tables 10 and 11, respectively. Figure 8: Results of different algorithms under poor geometry. (**a**) Convergence curves. (**b**) Position errors curves. Additionally, the GNSS raw data were played back in a GNSS software-defined radio (v0.0.19.1), and the RINEX data, decimeter-level precision ground truth, and time reference were provided by post-processing and calibrated against the campus map. The positioning errors reported are measured against this reference, and the execution times represent the duration required for each individual positioning calculation. This prior information ensures accurate timing and helps simulate a typical uncertainty space, with a horizontal uncertainty range of \(\pm\)1500 m, a vertical uncertainty range of \(\pm\)300 m, and a clock bias uncertainty range of \(\pm\)1500 m. Given the reduced space, the search precision of MRG is halved compared with the value specified in Table 5, resulting in a total of 40,000 points to be evaluated. The weights for the 2 SP method are derived from the \(C/N_{0}\) values of each satellite. The population size for ADBO is set to 50, with a maximum of 100 iterations. In the static receiver scenario, the sky plot and energy levels are shown in Figure 9(a),b. Note that while some satellites (e.g., PRN 22) occasionally experienced slightly lower \(C/N_{0}\) levels, most signals remained above 35 dB-Hz throughout the test duration. Each positioning calculation uses 1 ms of observation signals during the DPE correlation, corresponding to \(2.5\times 10^{6}\) samples. The positioning results span from 2859 ms to 39,999 ms, with calculations performed every 10 milliseconds, resulting in a total of 3714 positioning outcomes. Regarding the positioning performance, Figure 10(a) presents a planform map comparing the positioning results of the 2 SP, MRG, and ADBO algorithms. The black cross symbol \begin{table}
\begin{tabular}{l l} \hline \hline
**Data Parameter** & \\ \hline Date and Time & 2019/8/6 UTC 9:36:18–9:36:58 \\ Position & The West Playground of Huazhong \\  & University of Science and Technology \\ Longitude/Latitude & 114\({}^{\circ}\)24/3.46\({}^{\circ}\)/30\({}^{\circ}\)30\({}^{\circ}\)52.81\({}^{\prime\prime}\) \\ Sampling rate & 25 MHz \\ IF & 4.42 MHz \\ PRN numbers & 1, 7, 11, 17, 22, 28, 30 \\ Signal length & 40 s \\ \hline \hline \end{tabular}
\end{table} 
Table 10: Real test dataset parameters in static scenarios. Figure 9: Experiment setup of GNSS collection platform used for collecting GNSS datasets. represents the ground truth (GT) position, while the blue dot, green circle, and red star represent the positioning results for 2 SP, MRG, and ADBO, respectively.