Table 1

Information of zero baseline GNSS data"

Fig.1

The multi-GNSS single-frequency observation collection scheme"

Fig.2

Receiver clock series of geodetic-grade and low-cost single-frequency receivers"

Fig.3

Relationship of observation signal to noise ratio (SNR) and satellite elevation, which are collected from geodetic-grade (Trimble Alloy) and low-cost (ublox EVK-M8T) single-frequency receivers"

Fig.4

Code observation (L1) noise series of Trimble Alloy geodetic-grade receiver and ublox single-frequency receiver"

Table 2

Processing strategies of SFPPP based on low-cost single-frequency receivers"

Fig.5

Multi-GNSS single-frequency kinematic (walk) data collection scheme"

Fig.6

Experimental design of single-frequency dynamic positioning"

Table 3

Information of low-dynamic single-frequency rover station and multi-frequency static reference station on the roof of APM building"

Fig.7

Trajectory of single-frequency kinematic positioning"

Fig.8

Error series of single-frequency kinematic positioning"

Fig.9

Trajectory of low dynamic rover, APMROV2 and APMROV3, on the roof of APM"

Fig.10

Dynamic positioning error series of the auto-car on the roof of APM"