A method can include receiving sensor data, receiving satellite observations, determining a positioning solution (e.g., PVT solution, PVA solution, kinematic parameters, etc.) based on the sensor data and the satellite observations. A system can include a sensor, a GNSS receiver, and a processor configured to determine a positioning solution based on readings from the sensor and the GNSS receiver.

A method can include receiving sensor data, receiving satellite observations, determining a positioning solution (e.g., PVT solution, PVA solution, kinematic parameters, etc.) based on the sensor data and the satellite observations. A system can include a sensor, a GNSS receiver, and a processor configured to determine a positioning solution based on readings from the sensor and the GNSS receiver.

A method for detecting a probe signal at an estimated code delay and an estimated doppler frequency includes: (i) dividing a period of the probe signal into sections each of a predetermined duration; (ii) assigning to each section one of a multiple code categories, each code category being indicative of a signal pattern of the probe signal within the section; and (iii) selecting multiple phase categories for a sinusoidal signal, each phase category being indicative of a range of phases in the sinusoidal signal. Thereafter, the method includes (i) receiving a signal from which the probe signal is to be detected; (ii) dividing the received signal into sections each of the predetermined duration; (iii) assigning each section of the received signal both a corresponding code category and a corresponding phase category, based respectively on the estimated code delay and the doppler frequency; and (iv) separately accumulating sections of the received signal according to the assigned code and phase categories of each section.

A method for detecting a probe signal at an estimated code delay and an estimated doppler frequency includes: (i) dividing a period of the probe signal into sections each of a predetermined duration; (ii) assigning to each section one of a multiple code categories, each code category being indicative of a signal pattern of the probe signal within the section; and (iii) selecting multiple phase categories for a sinusoidal signal, each phase category being indicative of a range of phases in the sinusoidal signal. Thereafter, the method includes (i) receiving a signal from which the probe signal is to be detected; (ii) dividing the received signal into sections each of the predetermined duration; (iii) assigning each section of the received signal both a corresponding code category and a corresponding phase category, based respectively on the estimated code delay and the doppler frequency; and (iv) separately accumulating sections of the received signal according to the assigned code and phase categories of each section.

Examples in accordance with this disclosure provide a system for detecting a spoofed signal, the spoofed signal comprising position-navigation-timing (PNT) data. The system can include a first antenna and a second antenna, both configured to receive one or more first signals from one or more navigation satellites. The first antenna and second antenna can be configured to be separated by a first distance. The system can include a first receiver coupled to the first antenna and a second receiver coupled to the second antenna, where each antenna is configured to receive one or more signals from the respective antenna. Each of the first receiver and the second receiver are configured to extract a respective carrier phase data.

A positioning system includes equipment that receives a signal from a GNSS satellite, and a server apparatus that is connected to the equipment via a communication network. The equipment includes a memory and a processor configured to transmit information indicated by the signal to the server apparatus, and perform positioning of the equipment by using the information indicated by the signal. The server apparatus includes a memory and a processor configured to perform positioning of the equipment by using the information indicated by the signal received from the equipment.

A determination device according to one embodiment includes an acquiring unit (231) and a determination unit (233). The acquiring unit (231) acquires positional information that is related to a terminal device installed at an arbitrary location serving as a reference for a path of an air vehicle and that is calculated on the basis of correction information that includes information on coordinates of a reference station associated with an area in which the terminal device is positioned and information based on a satellite signal received by the reference station. The determination unit (233) determines a flight path of the air vehicle on the basis of the positional information acquired by the acquiring unit.

A determination device according to one embodiment includes an acquiring unit (231) and a determination unit (233). The acquiring unit (231) acquires positional information that is related to a terminal device installed at an arbitrary location serving as a reference for a path of an air vehicle and that is calculated on the basis of correction information that includes information on coordinates of a reference station associated with an area in which the terminal device is positioned and information based on a satellite signal received by the reference station. The determination unit (233) determines a flight path of the air vehicle on the basis of the positional information acquired by the acquiring unit.

A method can include receiving sensor data, receiving satellite observations, determining a positioning solution (e.g., PVT solution, PVA solution, kinematic parameters, etc.) based on the sensor data and the satellite observations. A system can include a sensor, a GNSS receiver, and a processor configured to determine a positioning solution based on readings from the sensor and the GNSS receiver.

A method can include receiving sensor data, receiving satellite observations, determining a positioning solution (e.g., PVT solution, PVA solution, kinematic parameters, etc.) based on the sensor data and the satellite observations. A system can include a sensor, a GNSS receiver, and a processor configured to determine a positioning solution based on readings from the sensor and the GNSS receiver.