Global Navigation Satellite Systems (GNSS) have been increasingly employed in activities that require position estimates. In addition to the North American GPS (Global Positioning System), GLONASS, developed by the former Soviet Union and which is in full constellation, the European Galileo and the Chinese BDS also orbit the Earth, both being implemented, achieving full constellation by 2020. These four systems should work together at the user level, improving positioning availability and accuracy. The main objective of this research is to develop a stochastic model suitable for multi-GNSS Point Positioning (GPS, GLONASS, Galileo and BeiDou), as well as to evaluate the accuracy of positioning considering the different constellations individually and combined, considering data from stations in different regions of the country. The evaluation will be carried out mainly in terms of positioning accuracy and analysis of the satellites residuals errors.
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