# Investigation on Reference Frames and Time Systems in Multi-GNSS
## 2 Quality Check of Broadcast Orbits
### RSW Components of Coordinate Differences and Clock Differences
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Satellite** & **Radial (m)** & **Along-Track (m)** & **Cross-Track (m)** & **Clock (ns)** & **Block** & **Clock 1** \\ \hline G01 & \(0.00\pm 0.12\) & \(-0.09\pm 0.44\) & \(0.30\pm 0.27\) & \(-0.9\pm 0.8\) & IIF & Rb \\ G02 & \(0.05\pm 0.13\) & \(-0.17\pm 0.74\) & \(0.08\pm 0.50\) & \(1.6\pm 0.8\) & IIF-B & Rb \\ G03 & \(0.00\pm 0.15\) & \(-0.08\pm 0.62\) & \(0.27\pm 0.35\) & \(-2.4\pm 0.8\) & IIF & Rb \\ G05 & \(0.00\pm 0.10\) & \(0.02\pm 0.66\) & \(0.19\pm 0.25\) & \(1.8\pm 0.6\) & IIR-M & Rb \\ G06 & \(0.01\pm 0.15\) & \(-0.06\pm 0.79\) & \(0.28\pm 0.34\) & \(-0.3\pm 0.5\) & IIF & Rb \\ G07 & \(-0.02\pm 0.11\) & \(-0.03\pm 0.62\) & \(0.00\pm 0.38\) & \(0.5\pm 1.7\) & IIR-M & Rb \\ G08 & \(-0.02\pm 0.29\) & \(0.00\pm 0.95\) & \(-0.03\pm 0.29\) & \(-0.2\pm 3.6\) & IIF & Cs \\ G09 & \(0.01\pm 0.27\) & \(0.04\pm 0.42\) & \(0.30\pm 0.27\) & \(0.0\pm 0.8\) & IIF & Rb \\ G10 & \(-0.05\pm 0.12\) & \(0.25\pm 0.67\) & \(0.28\pm 0.36\) & \(-1.0\pm 0.6\) & IIF & Rb \\ G11 & \(0.04\pm 0.14\) & \(0.36\pm 0.43\) & \(0.00\pm 0.24\) & \(-3.1\pm 1.3\) & IIR-A & Rb \\ G12 & \(0.03\pm 0.10\) & \(0.32\pm 0.93\) & \(-0.07\pm 0.28\) & \(0.7\pm 0.8\) & IIR-M & Rb \\ G13 & \(-0.02\pm 0.13\) & \(-0.11\pm 0.57\) & \(0.04\pm 0.47\) & \(-3.4\pm 0.8\) & IIR-A & Rb \\ G14 & \(-0.04\pm 0.13\) & \(0.80\pm 0.63\) & \(0.04\pm 0.52\) & \(-2.3\pm 0.5\) & IIR-A & Rb \\ G15 & \(-0.07\pm 0.08\) & \(0.72\pm 1.06\) & \(0.11\pm 0.19\) & \(0.7\pm 0.7\) & IIR-M & Rb \\ G16 & \(-0.08\pm 0.08\) & \(-0.18\pm 0.50\) & \(-0.04\pm 0.42\) & \(-1.8\pm 0.6\) & IIR-A & Rb \\ G17 & \(0.03\pm 0.16\) & \(0.74\pm 1.12\) & \(-0.05\pm 0.31\) & \(0.4\pm 2.0\) & IIR-M & Rb \\ G18 & \(0.05\pm 0.10\) & \(-0.66\pm 0.88\) & \(0.14\pm 0.32\) & \(-2.1\pm 1.3\) & IIR-A & Rb \\ G19 & \(-0.02\pm 0.13\) & \(0.50\pm 0.77\) & \(-0.06\pm 0.54\) & \(1.3\pm 1.0\) & IIR-B & Rb \\ G20 & \(0.00\pm 0.09\) & \(-0.46\pm 0.77\) & \(0.13\pm 0.27\) & \(-2.0\pm 0.9\) & IIR-A & Rb \\ G21 & \(-0.02\pm 0.12\) & \(0.02\pm 0.82\) & \(0.03\pm 0.38\) & \(-1.8\pm 0.8\) & IIR-A & Rb \\ G22 & \(-0.11\pm 0.10\) & \(0.30\pm 0.46\) & \(0.20\pm 0.46\) & \(1.8\pm 0.8\) & IIR-B & Rb \\ G23 & \(0.01\pm 0.08\) & \(-0.57\pm 0.68\) & \(0.13\pm 0.44\) & \(0.5\pm 0.6\) & IIR-B & Rb \\ G24 & \(-0.01\pm 0.42\) & \(0.56\pm 1.11\) & \(-0.07\pm 0.31\) & \(-2.6\pm 2.6\) & IIF & Cs \\ G25 & \(0.00\pm 0.17\) & \(0.22\pm 0.62\) & \(-0.17\pm 0.37\) & \(-1.3\pm 0.8\) & IIF & Rb \\ G26 & \(0.03\pm 0.21\) & \(-0.47\pm 0.64\) & \(-0.13\pm 0.26\) & \(-0.5\pm 0.5\) & IIF & Rb \\ G27 & \(-0.02\pm 0.30\) & \(0.08\pm 0.68\) & \(-0.02\pm 0.24\) & \(-0.9\pm 0.7\) & IIF & Rb \\ G28 & \(0.08\pm 0.13\) & \(-0.12\pm 0.61\) & \(-0.02\pm 0.18\) & \(-2.6\pm 3.9\) & IIR-A & Rb \\ G29 & \(0.06\pm 0.12\) & \(-0.92\pm 0.74\) & \(-0.07\pm 0.45\) & \(2.0\pm 1.0\) & IIR-M & Rb \\ G30 & \(0.03\pm 0.22\) & \(-0.23\pm 0.53\) & \(-0.09\pm 0.25\) & \(-0.8\pm 0.8\) & IIF & Rb \\ G31 & \(0.04\pm 0.13\) & \(-0.25\pm 0.81\) & \(0.00\pm 0.29\) & \(0.8\pm 0.8\) & IIR-M & Rb \\ G32 & \(0.01\pm 0.19\) & \(-0.21\pm 0.70\) & \(0.29\pm 0.31\) & \(-0.6\pm 0.6\) & IIF & Rb \\ \hline \hline \end{tabular}
\end{table} 
Table 2: GPS mean values and standard deviations of coordinates and clock differences. Mean values and standard deviations of coordinates and clock differences for each satellite are reported in Table 4. The complete time series of coordinates and clock differences for all BeiDou satellites are shown in Figure A3. For Galileo, it is important to remember that three types of ephemeris are available: I/NAV E1-B, F/NAV E5a and I/NAV E5b. I/NAV E1-B ephemeris has been chosen because this type of ephemeris is updated more frequently in the timeframe considered. Referring to Galileo ICD (Interface Control Document) [11], I/NAV blocks with Health Status equal to 1 (Signal out of service) have been rejected and others accepted. Of the 17 satellites, 11 are found to have a SV health value of 0, which means Data Validity Status = \"Navigation Data Valid\" and Health status = \"Signal OK\".