Abstract: Since the Beidou navigation system provided a global service on 2018 December 27, its service performance has received great attention. Based on the precision products released by the iGMAS (International GNSS Monitoring & Assessment System) Analysis Center of Shanghai Astronomical Observatory, we evaluate the orbits, clock differences, and signal in space user ranging error (SISURE (URE)) of the Beidou-2, Beidou-3, and GPS during the day of year 3--12 of 2019, and analyze the results of the Beidou navigation system in detail. It is showed that the results of Beidou-3, including broadcast ephemeris orbit accuracy and URE, had an obvious superiority over Beidou-2 during the evaluated period. And a part of them were better than GPS. Meanwhile, Beidou-3 has the best broadcast ephemeris orbit accuracy in radial direction, less than 0.2m. Its average URE was less than 0.4m, and URE RMS was less than 0.5m. The parameters, including average URE, 95%URE, and URE RMS, were less than 2m in Beidou-2 and 1 m in Beidou-3, respectively, and all meet the service performance standards that the system publicly promises.