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. 2015 Feb 9;5:8328. doi: 10.1038/srep08328

Figure 14. The code and phase residuals of several typical satellites from different navigation satellite systems and orbital types [G02 (GPS), R04 (GLONASS), C02 (BeiDou GEO), C06 (BeiDou IGSO), C14 (BeiDou MEO), and E20 (Galileo)], on September 3, 2013 (GPS Time).

Figure 14