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.

For more details, please refer to the paper

“Beyond three frequencies: an extendable model for single-epoch decimeter-level point positioning by exploiting Galileo and BeiDou-3 signals”

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

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