The present disclosure relates to a precise point positioning (PPP) method performed by a satellite navigation device. In one embodiment, the method comprises: receiving multiple positioning signals from a plurality of navigation satellites of a satellite-based navigation system using a multi-frequency receiver; receiving space segment correction data for the navigation satellites of the satellite-based navigation system; separately requesting and receiving local assistance data, wherein the local assistance data represents atmospheric errors in the vicinity of the satellite navigation device; and computing at least one of a precise position or time based on the received positioning signals, the space segment correction data and the local assistance data. The present disclosure further relates to a satellite navigation device, method for providing assistance data to at least one satellite navigation device, an assistance server, a satellite-based positioning system, and a computer program.

A system for generating satellite positioning corrections includes a global correction module that generates a set of global pre-corrections based on modeling of global positioning error, a set of local correction modules that, for each local correction module of the set, takes input from a unique reference source and generates a set of local pre-corrections based on modeling of local positioning error; and a correction generator that generates a positioning correction from the set of global pre-corrections and the sets of local pre-corrections to correct a position of the mobile receiver.

A system for generating satellite positioning corrections includes a global correction module that generates a set of global pre-corrections based on modeling of global positioning error, a set of local correction modules that, for each local correction module of the set, takes input from a unique reference source and generates a set of local pre-corrections based on modeling of local positioning error; and a correction generator that generates a positioning correction from the set of global pre-corrections and the sets of local pre-corrections to correct a position of the mobile receiver.

A system for generating satellite positioning corrections includes a global correction module that generates a set of global pre-corrections based on modeling of global positioning error, a set of local correction modules that, for each local correction module of the set, takes input from a unique reference source and generates a set of local pre-corrections based on modeling of local positioning error; and a correction generator that generates a positioning correction from the set of global pre-corrections and the sets of local pre-corrections to correct a position of the mobile receiver.

A system for generating satellite positioning corrections includes a global correction module that generates a set of global pre-corrections based on modeling of global positioning error, a set of local correction modules that, for each local correction module of the set, takes input from a unique reference source and generates a set of local pre-corrections based on modeling of local positioning error; and a correction generator that generates a positioning correction from the set of global pre-corrections and the sets of local pre-corrections to correct a position of the mobile receiver.

A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

The technology disclosed teaches a method of path planning using a GNSS Forecast, requesting the GNSS Forecast of signal obscuration on behalf of a vehicle travelling in a region, receiving and using the Forecast to plan a path or route that has GNSS signals available over the path or route that satisfy a predetermined criterium. Also taught are GNSS Forecasts and planned paths or routes for a plurality of flying vehicles used by a flight control system, requesting the GNSS Forecast of signal obscuration on behalf of a flying autonomous or automated vehicle travelling in a region, receiving and using the Forecast and to plan a path with GNSS signals available over the path that satisfy predetermined criteria including accommodating real-time changes in flight paths, without leaving space, that satisfies the predetermined criteria. Also taught is certifying performance of GNSS receivers used on a flying vessel.

A terminal device for use in a wireless telecommunications network, the terminal device comprising: first receiver circuitry configured to receive a first signal from each of one or more signal emitting devices located at respective spatial positions; transmitter circuitry configured to transmit a second signal to infrastructure equipment of the wireless telecommunications network; second receiver circuitry configured to receive a third signal from the infrastructure equipment, the third signal being transmitted by the infrastructure equipment in response to the infrastructure equipment receiving the second signal, the third signal being for determining, in combination with the first signal received from each of the one or more signal emitting devices, the spatial position of the terminal device, and the third signal being comprised within a predetermined system information block (SIB); and control circuitry configured to determine a spatial position of the terminal device based on the received first and third signals.

A terminal device for use in a wireless telecommunications network, the terminal device comprising: first receiver circuitry configured to receive a first signal from each of one or more signal emitting devices located at respective spatial positions; transmitter circuitry configured to transmit a second signal to infrastructure equipment of the wireless telecommunications network; second receiver circuitry configured to receive a third signal from the infrastructure equipment, the third signal being transmitted by the infrastructure equipment in response to the infrastructure equipment receiving the second signal, the third signal being for determining, in combination with the first signal received from each of the one or more signal emitting devices, the spatial position of the terminal device, and the third signal being comprised within a predetermined system information block (SIB); and control circuitry configured to determine a spatial position of the terminal device based on the received first and third signals.