PrideLab published their research on instantaneous decimeter-level point positioning using multi-frequency signals. we developed an extendable and flexible model for multi-frequency instant PPP-WAR, aiming at instantaneous 10-20 cm positioning accuracy using Galileo/BeiDou-3 signals. With integrated Galileo/BeiDou-3 observations in case of fully operational constellations, it is expected that a 10-20 cm instant positioning accuracy in either horizontal component can be achieved, promisingly even in a harsh GNSS-adverse environment. This performance is towards the satisfaction of the requirements for both high positioning accuracy and availability by driverless vehicles.

Link: https://doi.org/10.1007/s00190-019-01341-y

Figure 1 Three track  snapshots of the vehicle positioning overlaid on Google maps