## 4 Precise Point Positioning Results
### CNES Evaluation
The results in terms of mean, standard deviation, and 95 percentile of the position and velocity errors are given in Table 7. Note that, as presented in [40], the statistics are computed after 30 min of convergence. \begin{table}
\begin{tabular}{l c} \hline GPS observables & Code, carrier phase, Doppler shift \\ Galileo observables & Code, carrier phase, Doppler shift \\ Beidou observables & Code, carrier phase, Doppler shift \\ Glonass observables & Code, Doppler shift \\ Iono a priori standard deviation [m] & 10 \\ Iono process noise standard deviation [m] & 0.025 \\ Tropo model & Saastamoinen \\ Wet tropo a priori standard deviation [m] & 0.5 \\ Wet tropo model standard deviation [m] & \(5\times 10^{-6}\) \\ Galileo code measurements standard deviation [m] & 0.5 \\ GPS code measurements standard deviation [m] & 1 \\ Beidou code measurements standard deviation [m] & 10 \\ Carrier phase measurements standard deviation [cm] & 5 \\ Doppler shift measurements standard deviation [cm/s] & 5 \\ \hline  & STA & KIN \\ \hline Position a priori standard deviation [m] & 10.0 & 10.0 \\ Position process noise standard deviation [m] & 1.0 & 0.0 \\ Velocity a priori standard deviation [m/s] & 0.0 & 1.0 \\ Velocity process noise standard deviation [m/s] & 0.0 & 0.025 horizontal \\  & & 0.05 vertical \\ \hline \end{tabular}
\end{table} 
Table 6: Kalman filter settings for the static (STA) and kinematic (KIN) modes. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline  & & & \multicolumn{4}{c}{**Real-Time Products**} \\ \cline{3-8}  & & & **Horizontal** & & **Vertical** & \\ \cline{3-8}  & & **mean** & **std.** & **95\%** & **mean** & **std.** & **95\%** \\ \hline \multirow{3}{*}{PPP-float} & KIN & Pos. error [cm] & 42.41 & 21.61 & 80.84 & \(-37.15\) & 53.71 & 49.62 \\  & KIN & Vel. error [cm/s] & 0.48 & 0.27 & 0.97 & \(-0.02\) & 0.81 & 1.32 \\  & STA & Pos. error [cm] & \(41.14\) & 20.56 & 77.38 & \(-36.53\) & 48.23 & 39.00 \\ \hline \multirow{3}{*}{PPP-AR} & KIN & Pos. error [cm] & 1.38 & 3.67 & 2.39 & \(-0.30\) & 4.94 & 5.95 \\  & KIN & Vel. error [cm/s] & 1.08 & 1.32 & 2.07 & 0.60 & 2.13 & 3.78 \\  & STA & Pos. error [cm] & 1.29 & 1.72 & 2.42 & \(-0.47\) & 4.20 & 5.84 \\ \hline \multirow{3}{*}{PPP-Snapshot} & KIN & Pos. error [cm] & 40.07 & 18.94 & 72.44 & \(-13.75\) & 53.68 & 68.91 \\  & KIN & Vel. error [cm/s] & 0.77 & 0.68 & 2.42 & 0.12 & 1.24 & 2.12 \\  & STA & Pos. error [cm] & 43.37 & 20.64 & 80.44 & \(-11.93\) & 60.70 & 76.01 \\ \hline \multicolumn{8}{c}{**Post-Processed Products**} \\ \hline  & & & **Horizontal** & & **Vertical** & \\ \cline{3-8}  & & **mean** & **std.** & **95\%** & **mean** & **std.** & **95\%** \\ \hline \multirow{3}{*}{PPP-float} & KIN & Pos. error [cm] & 35.35 & 18.80 & 70.52 & \(-8.65\) & 48.62 & 66.49 \\  & KIN & Vel. error [cm/s] & 0.44 & 0.24 & 0.88 & \(-0.02\) & 0.75 & 1.21 \\ \cline{1-1}  & STA & Pos. error [cm] & 34.29 & 18.07 & 67.66 & \(-8.11\) & 43.83 & 59.34 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Positioning errors for the TLSG station with the two different products computed by the WIZARD demonstrator (RT or POST), with three positioning modes (PPP-float, PPP-AR, or PPP-Snapshot) in the static (STA) or kinematic (KIN) dynamic settings. When comparing the results between the first table with the RT products and the second table with the POST products, the statistics obtained with the POST products are better than the ones obtained with the real-time products, except for the PPP-Snapshot mode in the vertical direction, for which the mean and the 95 percentile of the kinematic position are both increased with the POST products. As demonstrated with these results, the use of the routinely computed new post-processed phase biases leads to an increase of the positioning accuracy. As excepted, the position solution with ambiguity resolution is more precise by an order of magnitude than the solution in float mode, with an almost 80% relative improvement in kinematic and static modes. The standard deviation and the 95 percentile are also decreasing.