1. Cabinet Office (2019) Quasi-Zenith satellite system interface specification positioning technology verification service, IS-QZSS-TV-003, 27 Dec. 2019. URL https://qzss.go.jp/en/technical/download/pdf/ps-is-qzss/is-qzss-tv-003.pdf
2. Cabinet Office (2022) Quasi-Zenith satellite system interface specification satellite positioning, navigation and timing service, IS-QZSS-PNT-005, 24 Oct. 2022. URL https://qzss.go.jp/en/technical/download/pdf/ps-is-qzss/is-qzss-pnt-005.pdf
3. Cabinet Office (2023) MIRAI Multi-GNSS integrated real-time and archived information system, Government of Japan. https://go.gnss.go.jp/mirai/
4. Hauschild A (2019) GNSS yaw attitude estimation: results for the Japanese Quasi-Zenith satellite system block-II satellites using single- or triple-frequency signals from two antennas. Navigation 2019:1–10. https://doi.org/10.1002/navi.333
5. Johnston G, Riddell A, Hausler G (2017) The International GNSS service. In: Teunissen P, Montenbruck O (eds) Springer handbook of global navigation satellite systems. Springer, Heidelberg, pp. 967–982. https://doi.org/10.1007/978-3-319-42928-1_33