A consolidated performance benchmark for multi-constellation, multi-frequency precise point positioning with ambiguity resolution

Precise Point Positioning (PPP) can deliver centimeter-level accuracy, but slow convergence limits time-critical applications. This study benchmarks PPP ambiguity resolution using GPS, GLONASS, Galileo, and BeiDou with up to four frequencies in an uncombined Decoupled Clock Model implemented in York-PPP engine. A total of 1,892 three-hour global sessions were processed in simulated kinematic mode to assess convergence to 10 cm and 2.5 cm thresholds, accuracy evolution, correction-product type, and float-solution potential. GREC triple- and quadruple-frequency fixed solutions reached the 2.5 cm RTK-like threshold in under 5 minutes, with horizontal RMS errors of 2.2 cm post-processed and 6.6 cm real-time.