System, computer program products, and methods for detecting and compensating for sensor interference. Sensor interference may result from environmental interference or from electronic signal interference. Sensor location input may be adapted or rejected when interference is detected. The system can monitor the accuracy, as well as the integrity, of all navigation sensors. The system can also automatically eliminate the faulty or compromised data from a final navigation solution.

System, computer program products, and methods for detecting and compensating for sensor interference. Sensor interference may result from environmental interference or from electronic signal interference. Sensor location input may be adapted or rejected when interference is detected. The system can monitor the accuracy, as well as the integrity, of all navigation sensors. The system can also automatically eliminate the faulty or compromised data from a final navigation solution.

An ephemeris server performs a method that includes (a) (i) obtaining broadcast ephemeris information by accessing a source of broadcast information on a wide area communication network; (ii) extracting, from broadcast ephemeris information, orbital trajectory information of each satellite, and (iii) creating and storing in a real-time database modified orbital trajectory information for each of the satellites from the extracted orbital trajectory information; (b) at each of a plurality of designated time points, updating the modified trajectory information in the real-time database, based upon evaluation of an update criterion; and (c) providing the modified trajectory information to each of a plurality of devices, each device having a GNSS receiver capable of using the modified trajectory information to process broadcast signals of the satellites.

An ephemeris server performs a method that includes (a) (i) obtaining broadcast ephemeris information by accessing a source of broadcast information on a wide area communication network; (ii) extracting, from broadcast ephemeris information, orbital trajectory information of each satellite, and (iii) creating and storing in a real-time database modified orbital trajectory information for each of the satellites from the extracted orbital trajectory information; (b) at each of a plurality of designated time points, updating the modified trajectory information in the real-time database, based upon evaluation of an update criterion; and (c) providing the modified trajectory information to each of a plurality of devices, each device having a GNSS receiver capable of using the modified trajectory information to process broadcast signals of the satellites.

The present disclosure provides a capability obtaining method, a capability sending method, a positioning server, and a device. The capability obtaining method is applied to the positioning server and includes: obtaining integrity capability information sent by a first device; wherein the integrity capability information is used for assisting the positioning server in performing a positioning operation, and the first device is a terminal or an access network side node; wherein the integrity capability information is used for indicating at least one of the following: a capability to support an integrity; a capability to support monitoring the integrity of a target object, indicating that the first device is capable of monitoring the integrity of the target object; or a capability to support a first-device-based integrity application of the target object.

The present disclosure provides a capability obtaining method, a capability sending method, a positioning server, and a device. The capability obtaining method is applied to the positioning server and includes: obtaining integrity capability information sent by a first device; wherein the integrity capability information is used for assisting the positioning server in performing a positioning operation, and the first device is a terminal or an access network side node; wherein the integrity capability information is used for indicating at least one of the following: a capability to support an integrity; a capability to support monitoring the integrity of a target object, indicating that the first device is capable of monitoring the integrity of the target object; or a capability to support a first-device-based integrity application of the target object.

The present disclosure relates to service satellite running status diagnosis methods and apparatuses. In one example method, a ground user terminal detects attribute information of a service beam, where the service beam is transmitted by a service satellite. If the attribute information of the service beam is abnormal, the ground user terminal generates an evaluation report of the service beam, and sends the evaluation report to a satellite controller. The satellite controller receives a plurality of evaluation reports sent by a plurality of ground user terminals, and generates a diagnosis report of the service beam based on the plurality of evaluation reports.

A method of determining a posterior error probability distribution for a parameter measured by a Global Navigation Satellite System (GNSS) receiver. The method comprises receiving a value for each of one or more GNSS measurement quality indicators associated with the GNSS measurement of the parameter. The or each received measurement quality indicator value is provided as an input into a multivariate probability distribution model to determine the posterior error probability distribution for the GNSS measurement, wherein the variates of the multivariate probability distribution model comprise error for said parameter, and the or each measurement quality indicator.

Global Navigation Satellite System (GNSS) receivers can provide more accurate positioning when augmented using Real-Time Kinematic (RTK) or Differential GNSS (DGNSS) corrections. Techniques described herein leverage multi-constellation, multi-frequency (MCMF) measurements taken at a base station at first and second times to generate correction information that can be used to detect and correct a bias (or offset) in the location of the base station. This bias may be detected by a rover station, or by the base station itself.

The present disclosure provides an integrity monitoring method of ionosphere gradient based on kinematical to kinematical platform, comprising step 1, constructing geometry-free and ionospheric amplification type detection statistics, based on original triple-frequency carrier phase observations, step 2, adjusting a detection threshold based on a required monitoring false alarm rate, and determining whether the detection statistics are less than the adjusted detection threshold, step 3, comparing a calculated miss-detection rate and a required miss-detection rate, and determining whether the calculated miss-detection rate are less than the required miss-detection rate, and step 4, if the detection statistics are less than the adjusted detection threshold and the calculated miss-detection rate are less than the required miss-detection rate, considering the ionosphere gradient is normal.