Inside RTKPOST software, there is various positioning modes available. Among, three are: PPP Static, PPP Fixed, & PPP Kinematic. How is one different from another?
The major difference is how to handle the position parameters in the filter. In PPP-Fixed mode, the position parameters are constrainted to the priori coordinates with a rather small variance, so its estimates almost does not change no matter the observations good or bad. PPP-Static mode consider the position parameter as a random random constant parameter, whose variance-covariance will decrease as the observation accumulation. Hence its position estimates will convergent to a certain value since the contribution of the new observations decrease. PPP Kinematic mode consider the position parameter as random variables, whose variance-covariance will be re-initialized every epoch. Hence its estimates will be noiser than the other two mode, but it is necessary for processing kinematic data unless you have other information like IMU observations.
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