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Zaminpardaz, S.; Teunissen, P.J.G. Analysis of Galileo IOV + FOC signals and E5 RTK performance. GPS Solut. 2017, 21, 1855–1870. [ Google Scholar] [ CrossRef] Bai, L.; Sun, C.; Dempster, A.G.; Zhao, H.; Cheong, J.W.; Feng, W. GNSS-5G hybrid positioning based on multi-rate measurements fusion and proactive measurement uncertainty prediction. IEEE Trans. Instrum. Meas. 2022, 71, 1–15. [ Google Scholar] [ CrossRef] Li, F.; Tu, R.; Hong, J.; Zhang, S.; Liu, M.; Lu, X. Performance Analysis of BDS–5G Combined Precise Point Positioning. Remote Sens. 2022, 14, 3006. [ Google Scholar] [ CrossRef] China Satellite Navigation Office. BeiDou Navigation Satellite System Signal in Space Interface Control Document Open Service Signal B1I (Version 3.0); China Satellite Navigation Office: Beijing, China, 2019. [ Google Scholar]

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Klus, R.; Talvitie, J.; Valkama, M. Neural network fingerprinting and GNSS data fusion for improved localization in 5G. In Proceedings of the 2021 International Conference on Localization and GNSS (ICL-GNSS), Tampere, Finland, 1–3 June 2021; pp. 1–6. [ Google Scholar] Series, M. Recommendation ITU-R M.1903-1, 2019. Available online: https://www.itu.int/dms_pubrec/itu-r/rec/m/R-REC-M.1903-1-201909-I!!PDF-E.pdf (accessed on 29 June 2023). Huang G, Yan X, Zhang Q, Liu C, Wang L, Qin Z (2018a) Estimation of antenna phase center offset for BDS IGSO and MEO satellites. GPS Solut 22:49. https://doi.org/10.1007/s10291-018-0716-z

NAVCEN USCG. GPS Constellation Active Nanu Status. Available online: https://www.navcen.uscg.gov/?Do=constellationStatus (accessed on 10 February 2021). Qi, S.; Guo, C.; Guo, W.; Deng, C.; Liu, J. Structure and performance analysis of fusion positioning system with a single 5G station and a single GNSS satellite. Geo-Spat. Inf. Sci. 2023, 26, 94–106. [ Google Scholar]Zhang, W.; Yang, Y.; Zeng, A.; Xu, Y. A GNSS/5G integrated three-dimensional positioning scheme based on D2D communication. Remote Sens. 2022, 14, 1517. [ Google Scholar] [ CrossRef] Caissy, M.; Agrotis, L.; Weber, G.; Hernandez-Pajares, M.; Hugentobler, U. The International GNSS Real-Time Service. GPS World. 2012, 23, 52–58. [ Google Scholar] Destino, G.; Saloranta, J.; Seco-Granados, G.; Wymeersch, H. Performance analysis of hybrid 5G-GNSS localization. In Proceedings of the 2018 52nd Asilomar Conference on Signals,Systems, and Computers, Pacific Grove, CA, USA, 28–31 October 2018; pp. 8–12. [ Google Scholar] Li, F.; Tu, R.; Han, J.; Zhang, S.; Liu, M.; Lu, X. Performance research of real-time kinematic/5G combined positioning model. Meas. Sci. Technol. 2022, 34, 035115. [ Google Scholar] [ CrossRef] Constellation Level 2, Upon the Turbulent Sea, the Thunder Arises: " Stormbreaker's arc lightning can jump to 2 additional targets." See above for more information.

Sośnica K, Jäggi A, Meyer U, Thaller D, Beutler G, Arnold D, Dach R (2015a) Time variable Earths gravity field from SLR satellites. J Geod 89(10):945–960. https://doi.org/10.1007/s00190-015-0825-1 Famili, A.; Foruhandeh, M.; Atalay, T.; Stavrou, A.; Wang, H. GPS Spoofing Detection by Leveraging 5G Positioning Capabilities. In Proceedings of the 2022 IEEE Latin-American Conference on Communications (LATINCOM), Rio de Janeiro, Brazil, 30 November–2 December 2022; pp. 1–6. [ Google Scholar] Li, F.; Tu, R.; Hong, J.; Zhang, S.; Zhang, P.; Lu, X. Combined positioning algorithm based on BeiDou navigation satellite system and raw 5G observations. Measurement 2022, 190, 110763. [ Google Scholar] [ CrossRef] The Chinese BeiDou Navigation Satellite system (BDS) has a mixed space constellation that will have, when fully deployed, five Geostationary Earth Orbit (GEO) satellites, twenty-seven MEO satellites and three Inclined Geosynchronous Satellite Orbit (IGSO) satellites. The GEO satellites are operating in orbit at an altitude of 35,786 kilometers and positioned at 58.75°E, 80°E, 110.5°E, 140°E and 160°E, respectively. The MEO satellites are operating in orbit at an altitude of 21,528 km and an inclination of 55° to the equatorial plane. The IGSO satellites are operating in orbit at an altitude of 35,786 km and an inclination of 55° to the equatorial plane. These satellites broadcast navigation signals and messages within three frequency bands. The BDS has been in development for more than a decade, and it is estimated to be operational with global coverage at the latest in 2020 [ 1, 2]. The BeiDou satellites transmit ranging signals based on Code Division Multiple Access (CDMA) principle, like GPS and Galileo. The mixed constellation structure of BeiDou results in better observation geometry for positioning and orbit determination compared to current GPS and GLONASS, and future Galileo, especially in China and neighboring regions. The BeiDou system has already started contributing to the multi-GNSS benefits where increased accuracy, availability and integrity are possible when utilizing interoperable GNSS [ 3]. Otsubo T, Appleby G, Gibbs P (2001) GLONASS laser ranging accuracy with satellite signature effect. SGEO 22(56):509–516. https://doi.org/10.1023/A:1015676419548Wang C, Guo J, Zhao Q, Liu J (2018) Yaw attitude modeling for BeiDou I06 and BeiDou-3 satellites. GPS Solut 22:117. https://doi.org/10.1007/s10291-018-0783-1

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