Performance evaluation of triple-frequency GPS/Galileo/BDS single-epoch medium baseline RTK positioning

Single-epoch real-time kinematics (RTK) has drawn attention for its benefits in managing cycle slips, yet research is mostly confined to short baselines. In this contribution, the triple-frequency GPS/Galileo/BDS single-epoch medium baseline RTK model is presented. Based on nine medium baselines, the positioning performance of triple-frequency single-epoch RTK is demonstrated and compared with the corresponding results of traditional dual-frequency scheme. It is shown that the triple-frequency scheme has a correctly fixing rate of 97.6%, which is roughly 5.6% higher than that of the dual-frequency scheme. For all solutions, including fixed and float epochs, the triple-frequency scheme achieves positioning accuracy of approximately 2.2, 1.8, and 5.3 cm in the east, north, and up directions, respectively, which is half the accuracy of the dual-frequency scheme. These results suggest triple-frequency observations enhance single-epoch medium RTK ambiguity resolution, potentially achieving centimetre-level accuracy in sparse reference station environments like offshore and desert regions.