Since the official operation of the BeiDou Global Navigation Satellite System (BDS-3), it has played a vital role in the national economy, national defence and security, and to enhance the people’s productivity and life. Based upon the three main characteristics, route design inheritance and development, highly integrated services, and “spiraling” incremental development, this paper introduces the service composition of BeiDou Navigation Satellite System (BDS) and summarizes the evolution of four types of BDS services, that include Positioning, Navigation and Timing (PNT), message communications, navigation augmentation, and international Search and Rescue (SAR). Moreover, the design features and performance of each service are discussed in detail, and the development trend of BDS services is examined in the light of the latest round of changes in the Global Navigation Satellite System (GNSS). Finally, development proposals are proposed, namely, stable operation of the system, enhancement of service performance, and empowerment through integration of multiple means.

With the rapid development of intelligent connected vehicles, high-precision 3D navigation has become a key supporting technology. This article conducted a series of drive tests using the high-precision navigation technology of BeiDou and BeiDou+5G hybrid positioning technology, aiming to verify the positioning performance in complex highway traffic environments. The test was conducted on actual roads in Beijing and Hangzhou showed that the positioning accuracy of BeiDou high-precision navigation reached a real-time centimeter level, with a fixed rate of about 95% and a convergence time of less than 2 s. The elevation accuracy of BeiDou+5G hybrid positioning was better than 0.2 m. Combined with three-dimensional high-precision laser point cloud maps, the overlay verification showed that the model can support three-dimensional lane level navigation, verifying the application potential of BeiDou high-precision positioning and BeiDou+5G hybrid positioning technology in the fields of autonomous driving and intelligent connected vehicles.