Objectives  Global navigation satellite system(GNSS) satellite chip shape distortions lead to individual biases in the pseudorange measurements. These biases are the results of the correlator's tracking response and thus depend on the correlator and front-end design of the receiver. As a result, different receivers are likely to exhibit inconsistent biases, called receiver-related pseudorange biases. The researches show that the receiver-related pseudorange biases cannot be absorbed by clock offset, which will affect GNSS precision applications.

  Methods  We estimate the receiver-related pseudorange biases of global positioning system (GPS)/BeiDou satellite navigation system (BDS)/Galileo satellite navigation system(Galileo)from 9 short/zero-baselines stations from the multi-GNSS experiment network using double difference method. The baselines are divided into three groups according to the combinations of two receivers of one baseline.

  Results  The results indicate that the receiver-related pseudorange biases of receivers with different manufacturers even the same manufacturers with different models cannot be neglected. For baselines with receivers from different manufacturers, the inconsistences of pseudorange biases can reach up to 160 cm.

  Conclusions  Among GPS, Galileo and BDS, Galileo shows the smallest pseudorange biases, while BDS in general is the largest. Furthermore, the stability of pseudorange biases is analyzed, the results suggest that estimated receiver-related pseudorange biases are quite stable with the standard deviation less than 12 cm for the three systems. We investigate the effect of receiver-related pseudorange biases on integer ambiguity resolution and pseudorange relative positioning, with the pseudorange biases correction, the root mean squares of fractional parts of double difference Melbourne-Wübbena combination are decreased by 17%, 22%, and 14% for GPS, BDS, Galileo, respectively. An improvement of pseudorange relative positioning accuracy is also confirmed, the 3D positioning errors of GPS, BDS, Galileo are reduced from 84.4, 77.3 and 60.0 to 80.1, 72.1 and 57.0 cm, respectively.