The development of space navigation and positioning technologies has led to increasing demands for the timeliness and accuracy of Earth Rotation Parameters (ERPs). The enhancement of real-time Global Navigation Satellite System (GNSS) data streaming services has made it possible to estimate ERPs in real-time. Therefore, a filtering method for real-time ERPs estimation is proposed to explore the performance of ERPs estimation by GNSS technology. An external Universal Time (UT1) constraint must be incorporated to ensure its determination. The experiments demonstrate that utilizing the UT1 forecast from the International GNSS Service (IGS) Ultra-rapid (IGU) products and implementing constraints at each processing epoch results in a stable and continuous UT1 estimation. Using the International Earth Rotation and Reference Systems Service (IERS) 20C04 post-processed products as a reference, the filtered ERPs solutions over a 30-day period exhibit Root Mean Square (RMS) values of 70 μ as , 73 μ as , 30 μ s , 215 μ as/day , 187 μ as/day, and 28 μ s for x_p , y_p , UT1, ẋ_p , ẏ_p, and dLOD , respectively. Compared to the real-time accessible IERS predicted products and IGU-ERPs products, the proposed method demonstrates a smoother time series and better agreement with the IERS 20C04 product. Moreover, the filter estimation of ERPs yields more continuous Global Positioning System orbit solutions than directly fixing ERPs from IGU-ERPs products, with RMS values of 2.67 cm, 1.62 cm, 1.68 cm, and 3.55 cm in the along, cross, radial, and 3D directions, respectively, when referenced to the IGS final orbit products. This performance shows a slight improvement in all directions compared to the results obtained from directly fixing ERPs from IERS 20C04 products.
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