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BDS-3 has been providing initial service from December 2018. BDS entered the stage of simultaneous service with 2 generations of satellites: BDS-2 and BDS-3. There are three different orbit for BDS satellites including GEO, IGSO and MEO, and 4 open service signals including B1I, B2I, B3I, B1C and B2a. Compared with BDS-2, the on-board payload of the BDS-3 has been redesigned, and the parameters of signals are designed to be better, especially in multipath mitigation. In order to verify the performance of BDS-3 signals in terms of multipath errors, we use data from the “international GNSS Monitoring and Assessment System (iGMAS)” multi-GNSS observation stations to analyze the multipath errors of BDS-2 and BDS-3. The results show that the pseudorange multipath error of BDS-2 has a systematic bias that varies with the elevation angle, and the performance of B3I signals is better than B1I for BDS-2 satellites. While B1I, B3I, B1C, and B2a signals of BDS-3 satellites have pseudorange multipath errors with zero mean characteristic, and BDS-3 B1I, B3I signals multipath error is significantly better than BDS-2. The B3I and B2a signals have better performance than B1I and B1C for BDS-3 satellites.

We provided the key technologies for BeiDou navigation satellite system (BDS) standard positioning. Using real-time precise point position (RT-PPP) technology to get the precise reference coordinate, the dynamic positioning performance of BDS in service area was evaluated. Our results indicate that the 95% confidence level error is 2.77 and 4.27 m for horizontal and vertical components with B1I signal, 3.24 and 4.95 m for B2I signal, and 4.11 and 6.84 m for B1I and B2I ionosphere-free combination.