Abstract: [Purposes] Real-time，high-precision GNSS positioning is critical for applications such as autonomous driving and unmanned aerial vehicle navigation.Precise point positioning with WL ambiguity resolution (PPP-WAR)offers rapid decimeter-level accuracy but is often limited by network communication，hindering offline use. [Methods] Therefore，this paper proposes a PPP-WAR algorithm based on factor graph optimization and MADOCA-PPP service，validated through simulated kinematic tests and vehicle-borne experiments in urban environments. [Findings] Results show that using the WL UPD products for ambiguity fixation，the method achieved positioning accuracies of 0.54，0.58，and 1.06 m in the E，N and U directions，representing improvements of 28.6%，3.6%，and 25.3% over the float solution，with convergence time shortened by approximately 30%.However，the WL UPD derived from OSB provided by MADOCA showed lower temporal stability，with an standard deviation of approximately 0.02 to 0.03 cycles，leading to a slight degradation in PPP-WAR performance. [Conclusions] Overall，both approaches achieved accuracy comparable to solutions based on WHU real-time precise products．

Key words: MADOCA-PPP, PPP-WAR, factor graph optimization, GPS, Galileo