Abstract:Based on the precise orbit and satellite clock corrections products of BDS, GPS, GLONASS and Galileo generated by the PANDA software package of Wuhan University, we analyze the positioning precision and the convergence time of kinematic PPP in 7 modes, including BDS-only, GPS-only, combined BDS and GPS, combined BDS and GLONASS, combined GPS and GLONASS, combined BDS, GPS and GLONASS, and combined BDS, GPS, GLONASS and Galileo, by processing data from MGEX. The results illustrate that: 1) The convergence speed of BDS kinematic PPP was very slow and the precision could reach the centimeter level after convergence. 2) The precision in the north component of GPS/BDS kinematic PPP is worse than that of GPS-only ones but the convergence speed and the positioning precision improves in the East and Up components. The convergence speed and the precision of GPS/GLONASS and GLONASS/BDS kinematic PPP are also improved. 3) The precision in the plane and vertical direction can reach 1 cm and 3 cm after 20 minutes, respectively. The introduction of Galileo satellites hardly changed the convergence time and precision.