Analysis of Galileo five-frequency precise satellite clock estimation models and its effect on multi-frequency PPP

•To fully utilize the multi-frequency GNSS observations in server applications, we develop some new five-frequency precise clock estimation (PCE) models based on Galileo data.•The multi-frequency PCE models can improve the stability and precision of satellite clock estimation.•The multi-frequency PCE models can obtain the satellite clock offsets on the premise of ensuring the dual-frequency IF datum and the corresponding IFCB, which can better support multi-frequency PPP applications.•The multi-frequency PCE models construct the relationship between different frequency and make full use of the modern GNSS multi-frequency observations, which has been demonstrated to support PPP applications with better performance.