Abstract: The disclosure concerns a method for providing GNSS sensor data, comprising at least the following steps: (a) receiving GNSS satellite signals; (b) evaluating the received GNSS satellite signals to ascertain GNSS sensor data; (c) rating the received GNSS satellite signals on the basis of at least one GNSS-specific performance criterion; and (d) associating a rating that results from step (c) with the related GNSS sensor data.

Abstract: An electronic timepiece includes: a power source; a correlation computation unit executing correlation computation processing of sequentially computing a correlation value between a signal sample and a plurality of codes corresponding to a plurality of satellites; a power source voltage determination unit to which a voltage of a power source is inputted and which determines whether the inputted voltage is lower than a first threshold or not, or whether the voltage exceeds a second threshold set to be equal to or higher than the first threshold; and a correlation computation control unit controlling the correlation computation unit to interrupt the correlation computation processing when the power source voltage determination unit determines that the voltage is lower than the first threshold, and to resume the correlation computation processing when the power source voltage determination unit determines that the voltage exceeds the second threshold.

Abstract: A method for monitoring an integrity of reference stations, having known and fixed coordinates, of a correction service system for a satellite-supported navigation system. A first group of the reference stations is operated to receive satellite signals of a plurality of satellites of the satellite-supported navigation system. It is provided that a) a first reference station is selected from the first group, and b) at least one first correction value is ascertained as a function of the satellite signals respectively received by the remaining reference stations of the first group, and c) the monitoring of the integrity is carried out in that first coordinates of the first reference station, determined using the satellite signals received by the first reference station and using the at least one first correction value, are compared with the known coordinates of the first reference station and checked for at least one first deviation.

Abstract: The disclosure relates to a light sensor system for determining the proximity of electronic devices by analyzing the polarization of detected light. The light sensor system includes a plurality of light sensors each including polarizers, such as linear plane polarizers and/or circular polarizers. The filtered light sensors are each operable to detect light passing through the respective polarizers. The light sensor system further includes an unfiltered light sensor operable to detect the presence of light. The light sensor system includes a processor in operable communication with each of the light sensors, the processor operable to determine whether the detected light is polarized or non-polarized based on the accumulated data of the various polarized light sensors and unfiltered light sensor.

Abstract: A system for locating an optimal location of a reception antenna of the present disclosure has an unmanned aerial vehicle (UAV), a wireless internet service provider (WISP) tower configured for transmitting radio signals, and an antenna removeably coupled to the unmanned aerial vehicle, the antenna configured for receiving the radio signals. Further, the system has a processor that receives data indicative of a height from a user and automatically flies the UAV to the height. Additionally, the processor rotates the unmanned aerial vehicle at the height and detects the radio signals from the at least one WISP tower as the UAV rotates to determine an optimal azimuth, and if the radio signals received are not conducive for the provision of wireless services at the height, the processor moves the UAV to different heights and rotates the UAV until radio signals received are conducive for the provision of wireless services.

Abstract: In one embodiment, a process obtains a first compensated directional reading from a first directional sensor of a directionally sensitive system, and obtains a second compensated directional reading from a second directional sensor of the directionally sensitive system. The process may then determine, a difference between the first compensated directional reading and the second compensated directional reading, and declares, in response to the difference being greater than an acceptable threshold, an inaccurate directional reading. As such, the process may then prevent performance of a directionally sensitive action by the directionally sensitive system in response to an inaccurate directional reading.

Abstract: The mobile, wearable, automated target tracking system is designed to enable an image and/or sound recording device, such as a video camera or directional microphone, to automatically follow a subject (or target) in order to keep that subject within the image frame or sound range that is being recorded. The automated target tracking system makes it possible to capture both the action and subject simultaneously without requiring a cameraman to manually operate the equipment. The indoor/outdoor, automated tracking system is designed to be independent of the video/sound recording device and may utilize a smartphone for location sensing and control. Both the target (or subject) and the tracking device may be moving, so the tracking device is designed to adjust position on 3 axes, azimuth (pan), elevation (tilt) and horizon (roll).

Abstract: The invention discloses an indoor positioning method and apparatus. The method includes: acquiring current cell signal strength information of a terminal located indoors; determining, according to 3D indoor positioning matching information, horizontal position information and height information of an indoor grid that are corresponding to the current cell signal strength information, where the 3D indoor positioning matching information includes a correspondence between cell signal strength information of the indoor grid and the horizontal position information and the height information of the indoor grid; and determining, according to the horizontal position information and the height information of the indoor grid, a horizontal position at which the terminal is located indoors and a height at which the terminal is located. In this way, high-accuracy 3D indoor positioning can be implemented.

Abstract: A remote starter transmits vehicle position information at a time of parking start to an information processor upon the parking start of a vehicle. The information processor judges whether to transmit a request for starting of the vehicle based on the vehicle position information and mobile-terminal position information upon reception of the request for starting of the vehicle and the mobile-terminal position information from a mobile terminal.

Abstract: A system and method for determining a set of satellites for which assistance data may be provided to a wireless device. A boundary for an approximate area in which the wireless device is located may be determined and one or more sets of satellites may be determined as a function of the boundary. An optimum set of satellites from the one or more sets of satellites may then be determined using a satellite selection function on the one or more sets of satellites at predetermined points substantially on the boundary.

Abstract: Apparatus for calculating the location of a receiver by means of a location algorithm that generates a receiver location in dependence on signalling events received by that receiver from a set of satellites, the apparatus being arranged to select, from a constellation of satellites visible to the receiver, the set of satellites to use in the location algorithm in dependence on an effect that it is estimated using that set of satellites will have on the capability of the location algorithm to generate an accurate location for the receiver.

Abstract: A first position of a satellite is calculated at a first time in dependence on received orbit data corresponding to an orbit path of the satellite. An orbit path of the satellite is modeled from the first position at the first time to a second time to determine a second position of the satellite at the second time. A third position of the satellite is then calculated at the second time in dependence on the received orbit data. The second position and third position are compared to determine a validity of the orbit data.

Abstract: A system and method for determining a set of satellites for which assistance data may be provided to a wireless device. A boundary for an approximate area in which the wireless device is located may be determined and one or more sets of satellites may be determined as a function of the boundary. An optimum set of satellites from the one or more sets of satellites may then be determined using a satellite selection function on the one or more sets of satellites at predetermined points substantially on the boundary.

Abstract: Apparatus for calculating the location of a receiver in a satellite navigation system, the apparatus being arranged to calculate a location of the receiver by means of an algorithm that utilizes an estimate of receiver location and/or an estimate of absolute time, the apparatus being arranged to perform the calculation in such a way as to extend a convergence zone within which the algorithm is capable of generating the correct location for the receiver despite an error in the estimate(s).

Abstract: In one embodiment, a method for selecting a sub-set of satellites from a set of N satellites is provided. The method includes recursively evaluating each sub-set of N?P satellites of a set of N satellites. If only one sub-set satisfies one or more first criterion, then the one sub-set that satisfies the one or more first criterions is selected. If, however, more than one sub-set satisfies the one or more first criterion, then the sub-sets that satisfy the one or more first criterion are evaluated with respect to one or more second criterion and the one sub-set that optimizes the one or more second criterion is selected. Once the selected set of N satellites is equal to the number of satellites from which a receiver is configured to calculate a navigation solution, then that selected set of N satellites is used to calculate a navigation solution.

Abstract: Enhancing search capacity of Global Navigation Satellite System (GNSS) receivers. A method for searching satellite signals in a receiver includes performing a plurality of searches sequentially. The method also includes storing a result from each search of the plurality of searches in a consecutive section of a memory. Further, the method includes detecting free sections in the memory. The method also includes concatenating the free sections in the memory to yield a concatenated free section. Moreover, the method includes allocating the concatenated free section for performing an additional search.

Abstract: The subject matter disclosed herein relates to a system and method for acquiring signal received from satellite vehicles (SVs) in a satellite navigation system. In one example, although claimed subject matter is not so limited, information processed in acquiring a signal from a first SV may be used in acquiring a signal from a second SV.

Abstract: Systems, methods, and apparatuses for a satellite navigational system receiver to select a subset of tracking satellites from the satellites in view are described. In one method, after selecting the satellite with a highest elevation, satellites are selected for the tracking subset by searching the sectors of an azimuth plane map in sequence.

Abstract: A method for selecting usable satellites from among the satellites of a localization constellation, to determine an instantaneous kinematic state of a train, is provided. The method includes determining a measured value and an estimated value of a Doppler coefficient and/or a pseudo-range, then comparing the measured and estimated values and, in case of divergence, deleting the satellite from the usable satellites. The estimated value results from a dynamic model of the train, which uses only a kinematic state at a past moment to calculate an estimated instantaneous kinematic state and that uses a mapping of the track on which the guided vehicle moves.

Abstract: The invention relates to a method for selecting a satellite which is designed to send a global navigation satellite system-signal, also known as a GNSS-Signal, to a vehicle, consisting of: measuring measurement position data of the vehicle in relation to the satellite based on the GNSS-Signal; determining redundant reference position data of the vehicle in relation to the measurement position data determined according to the GNSS-Signal; and selecting the satellite when a comparison of the measurement position data and the reference position data meets a predetermined condition.

Abstract: A method performs an update for a first device that consumes information with a known expiration time. The first device operates within a network that accommodates other devices also consuming the information. The method includes setting a time for the first device to refresh the information, the time to refresh being based on a pseudorandom time offset. The method also includes sending a refresh request to a resource for the data during the set time.

Abstract: Provided are a method and device for determining a non-line of sight (NLOS) state around a GPS receiver. The method may include collecting, from at least one satellite, satellite information including a direction angle, a signal to noise (SNR), and an altitude, selecting a satellite of which the NLOS state is to be determined based on an altitude value of the collected satellite information, and determining whether the selected satellite is in the NLOS state with respect to a direction to the satellite based on the SNR and direction angle included in the satellite information of the selected satellite. According to the present invention, by reducing a location calculation error that occurs due to a distance measurement error when a location is measured, a more precise result of location measurement can be obtained.

Abstract: Locating satellites (e.g., GPS) are culled into a preferred group having a longest dwell time based on a time passing through an ellipsoid arc path through a cone of space, and communicated to mobile devices within a particular region (e.g., serviced by a particular base station). The culled locating satellites may select those visible, or more preferably those locating satellites currently within a cone of space above the relevant base station are selected for communication by a mobile device within the service area of the base station. The inverted cone of space may be defined for each antenna structure for any given base station, and each has 360 degrees of coverage, or less than 360 degrees of coverage, with relevant locating satellites. Thus, cell sites may be specifically used as reference points for culling the ephemeris information used to expedite Assisted GPS location determinations.

Abstract: A vehicle direction estimation section estimates an absolute direction of a heading direction of a vehicle based on GPS information and vehicle information. A satellite direction estimation section estimates an absolute direction of a target satellite of several satellites for positioning based on corresponding GPS information, and estimates a relative direction of the target satellite with respect to the heading direction based on the estimated absolute direction of the heading direction and the estimated absolute direction of the target satellite. A shield determination section determines a shielded state of the target satellite by determining whether a signal strength of a satellite signal from the target satellite is greater than a threshold value relative to a target partition of several partitions into which a three-dimensional sphere with respect to the heading direction is divided, the target partition which the calculated relative direction of the target satellite belongs to.

Abstract: Locating satellites (e.g., GPS) are culled into a preferred group having a longest dwell time based on a time passing through an ellipsoid arc path through a cone of space, and communicated to mobile devices within a particular region (e.g., serviced by a particular base station). The culled locating satellites may select those visible, or more preferably those locating satellites currently within a cone of space above the relevant base station are selected for communication by a mobile device within the service area of the base station. The inverted cone of space may be defined for each antenna structure for any given base station, and each has 360 degrees of coverage, or less than 360 degrees of coverage, with relevant locating satellites. Thus, cell sites may be specifically used as reference points for culling the ephemeris information used to expedite Assisted GPS location determinations.

Abstract: A global navigation satellite system (GNSS) receiver comprising one or more regular channel circuits and one or more sniff channel circuits may be operable, utilizing the sniff channel circuits, to monitor power levels of currently visible GNSS satellites which are not being utilized by the regular channel circuits. An alternative GNSS satellite from the currently monitored GNSS satellites may be selected by the GNSS receiver based on the monitored power levels. GNSS signals received from the selected alternative GNSS satellite may be processed by a regular channel circuit. The GNSS receiver may be operable to detect, for example, signal-to-noise ratios (SNRs) or carrier-to-noise density ratios (C/N0s) of the currently visible GNSS satellites utilizing the sniff channel circuits. The sniff channel circuits may not be utilized to generate GNSS measurements so that functionality of each of the sniff channel circuits may be reduced.

Abstract: Enhancing search capacity of Global Navigation Satellite System (GNSS) receivers. A method for searching satellite signals in a receiver includes performing a plurality of searches sequentially. The method also includes storing a result from each search of the plurality of searches in a consecutive section of a memory. Further, the method includes detecting free sections in the memory. The method also includes concatenating the free sections in the memory to yield a concatenated free section. Moreover, the method includes allocating the concatenated free section for performing an additional search.

Abstract: A method and apparatus for distribution and delivery of global positioning system (GPS) satellite telemetry data using a communication link between a central site and a mobile GPS receiver. The central site is coupled to a network of reference satellite receivers that send telemetry data from all satellites to the central site. The mobile GPS receiver uses the delivered telemetry data to aid its acquisition of the GPS satellite signal. The availability of the satellite telemetry data enhances the mobile receiver's signal reception sensitivity.

Abstract: A method of communicating satellite tracking information among a network of global navigation satellite system receivers is described. The method includes determining at a first GNSS receiver which satellites in a constellation of satellites have been continuously tracked over a preceding selected time period, and for each such satellite determining its elevation with respect to the zenith. Only the elevation value for the lowest satellite in the set of satellites for which all satellites of higher elevation values have been continuously tracked over the selected time period is then transmitted to the second GNSS receiver. That receiver can then reconstruct the set of satellites which have been continuously tracked.

Abstract: An electronic timepiece that receives satellite signals transmitted from positioning information satellites includes: a satellite signal reception unit that receives satellite signal(s); a satellite capturing unit that executes a process of capturing at least one of the satellites within a capture time based on the satellite signal(s) received by the reception unit; a time adjustment information generating unit that acquires satellite information from the satellite signal(s) transmitted from the captured satellite(s), and generates time adjustment information based on the satellite information; a time information adjustment unit that adjusts internal time information based on the time adjustment information; and a time information display unit that displays the internal time information.

Abstract: A wireless communication apparatus may include an instruction unit that instructs a peripheral terminal to acquire a navigation message transmitted from a global positioning system (GPS) satellite, an acquisition unit that acquires the navigation message, which has been acquired by the peripheral terminal, from the peripheral terminal, and a calculation unit that carries out a positioning calculation by using the navigation message acquired by the peripheral terminal.

Abstract: Raw measurements for a plurality of GNSS satellites are pruned based on signal to noise ratio (SNR) and elevation; with remaining unpruned raw measurements sorted by SNR into a sorted list of raw measurements. A first dilution of precision (DOP) based selecting process is performed to select an initial candidate list of raw measurements. The first DOP selecting process begins by using at least those of said pruned list of raw measurements which exceed an SNR quality threshold. The initial candidate list of raw measurements is sorted by elevation angle. A second DOP selecting process is performed to select a final candidate list of raw measurements. The second DOP selecting process begins by using at least those of the sorted initial candidate list which an elevation quality threshold. The final candidate list is used in position computation for a present epoch.

Abstract: A use for real-time in RTK positioning is provided, which raises the capacity factor of high precision positioning time. The mask threshold of either an elevation angle mask or signal strength mask is initialized. The satellite signal chosen via this mask threshold performs RTK positioning calculation. The quality check of this positioning solution is performed. When a decision result is good, this positioning solution turns into a high precision positioning solution. When a decision result is bad, other mask thresholds are changed from an initial value. The satellite signal newly chosen via this changed mask threshold performs RTK positioning calculation. The quality check of this positioning solution is performed. When a decision result is good, this positioning solution turns into a high precision positioning solution. A quality check is performed by the Ratio test and a satellite signal also chooses a GLONASS signal automatically with a GPS signal.

Abstract: A global navigation satellite system (GNSS) receiver comprising one or more regular channel circuits and one or more sniff channel circuits may be operable, utilizing the sniff channel circuits, to monitor power levels of currently visible GNSS satellites which are not being utilized by the regular channel circuits. An alternative GNSS satellite from the currently monitored GNSS satellites may be selected by the GNSS receiver based on the monitored power levels. GNSS signals received from the selected alternative GNSS satellite may be processed by a regular channel circuit. The GNSS receiver may be operable to detect, for example, signal-to-noise ratios (SNRs) or carrier-to-noise density ratios (C/N0s) of the currently visible GNSS satellites utilizing the sniff channel circuits. The sniff channel circuits may not be utilized to generate GNSS measurements so that functionality of each of the sniff channel circuits may be reduced.

Abstract: An electronic timepiece can determine the reception state in detail, and can display the reception state with high precision. A GPS wristwatch 1 has a reception unit that receives a satellite signal transmitted from a positioning information satellite; a reception level calculating unit 47 that calculates a reception level from the signal strength of the satellite signal; and a reception level display unit 48 that displays the reception level calculated by the reception level calculating unit 47. The reception level calculating unit 47 selects a specific number of satellite signals received from the positioning information satellites in order of greatest signal strength, and calculates the reception level from the signal strengths of the selected satellite signals.

Abstract: Apparatus for calculating the location of a receiver by means of a location algorithm that generates a receiver location in dependence on signalling events received by that receiver from a set of satellites, the apparatus being arranged to select, from a constellation of satellites visible to the receiver, the set of satellites to use in the location algorithm in dependence on an effect that it is estimated using that set of satellites will have on the capability of the location algorithm to generate an accurate location for the receiver.

Abstract: The present invention is related to location positioning systems, and more particularly, to a method and apparatus of synchronizing to data bits in a positioning system signal. According to a first aspect, the present invention speeds up data bit sync by allowing high Pfa in the overall bit sync computation (e.g. 10?2) for coarse aided case. According to another aspect, the present invention combines and aligns signals from satellites for use in the bit sync computation (e.g. for improved sensitivity and speed).

Abstract: A method of calculating a position of a GPS receiver, a recording medium having recorded thereon a program for performing the method, and a GPS receiver are discussed. The method includes causing a control unit to combine a plurality of satellite signals received through the use of a receiver unit and to create a plurality of satellite signal groups; selecting a low-error satellite signal group not including any GPS satellite signal causing a reflection error or including the GPS satellite signal causing a reflection error as little as possible by the use of pseudoranges based on the GPS satellite signals included in the satellite signal groups; detecting the GPS satellite signal not included in the low-error satellite signal group as a reflected satellite signal; and calculating a positional coordinate of the GPS receiver by the use of the GPS satellite signals other than the reflected satellite signal.

Abstract: A system and method for determining one or more satellites in view of a wireless device. A request for satellite assistance data may be received from a requesting entity and a reference location determined as a function of the request. A set of satellites may be determined as a function of the reference location. Subsequent cached information may be determined for each satellite in the set of satellites if cached information already existing for each satellite in the set of satellites has been cached for greater than a predetermined time period. This subsequent cached information may then replace the previously existing cached information for the reference location. One or more satellites in view of the wireless device may then be determined as a function of either the subsequent cached information or previously existing cached information, and assistance data may be provided to the requesting entity to determine an estimated location of the wireless device.

Abstract: Methods, systems, computer readable media, and mobile devices for searching for global navigation satellite system (GNSS) signals include acquiring satellite position location signals from a first SV in the GNSS from an Earth location. From an SV position list a determination is made whether any SVs in the GNSS are not-in-view of the first SV. Satellite position location signals are searched from other SVs in the GNSS, except from any SVs that have been determined not-in-view of the first SV. According to one aspect, ellipsoidal, additional, and extrapolated elimination regions are created to expand the SVs that can be eliminated as being not-in-view.

Abstract: A GNSS receiver (100) receives radio signals (S(SV)) transmitted from an active set of signal sources (SV1, SV2, SV3, SV5) and based thereon produces position/time related data (DPT). The receiver (100) has a tracking channel resource for each signal source (SV1, SV2, SV3, SV5) in the active set, and the tracking channel resources process the radio signals (S(SV)) in parallel with respect to a real-time signal data rate of the signals. The receiver (100) also includes a signal-source database (140), a signal-masking database (150) and a control unit (130). The signal-source database (140) describes the movements of the signal sources (SV1, SV2, SV3, SV4, SV5) over time relative to a given reference frame, and the signal-masking database (150) reflects, for positions (P) within a predefined geographic area, visibility/blockage to the sky with respect to a direct line of sight in terms of spatial sectors (M1(P), M2(P) M3(P)).

Abstract: A method for acquiring positioning information includes receiving downlink data in a plurality of downlink slot frames, and receiving at a mobile terminal within one of the downlink slot frames, broadcasted global positioning system (GPS) orbital description data. The GPS orbital description data information relates to a first group of orbiting satellites within operable range of the base station (BS) providing the broadcasting of the GPS orbital description data. The method further includes performing GPS-based positioning for the mobile terminal based upon signaling received from a second group of a plurality of orbiting satellites in conjunction with the GPS orbital description data, such that at least one of the second group of the plurality of orbiting satellites is the same as some or all of the orbiting satellites of the first group.

Abstract: A handheld electronic apparatus includes a positioning module, a sensing module, a constellation database, and a processing module. The positioning module generates location information associated with the handheld electronic apparatus according to a satellite signal received by the handheld electronic apparatus. The sensing module detects a vertical tilted angle and a horizontal observing direction associated with a positioned state of the handheld electronic apparatus. The processing module retrieves corresponding real-time constellation information from constellation data stored in the constellation database according to timing information, the location information, the vertical tilted angle, and the horizontal observing direction.

Abstract: The present invention is related to location positioning systems, and more particularly, to a method and apparatus of synchronizing to data bits in a positioning system signal. According to a first aspect, the present invention speeds up data bit sync by allowing high Pfa in the overall bit sync computation (e.g. 10?2) for coarse aided case. According to another aspect, the present invention combines and aligns signals from satellites for use in the bit sync computation (e.g. for improved sensitivity and speed).

Abstract: An electronic timepiece having a function for receiving satellite signals transmitted from positioning information satellites, including a satellite signal reception unit that receives the satellite signals, a satellite capturing unit that executes a process of capturing the positioning information satellites within a capture time based on the satellite signals received by the satellite signal reception unit, a time adjustment information generating unit that acquires satellite information from the satellite signal sent from the positioning information satellite captured by the satellite capturing unit, and generates time adjustment information based on the satellite information, a time information adjustment unit that adjusts internal time information based on the time adjustment information, a time information display unit that displays the internal time information, and a time limit setting unit that variably sets a time limit for the time adjustment information generating unit to generate the time adjustm

Abstract: A Global Positioning System (GPS) receiver includes a GPS receiving unit configured to receive navigation data from at least one visible satellite, a decoder configured to decode the received navigation data to extract time and almanac information from the decoded navigation data and a database configured to store satellite disposition information. A satellite location determining unit is configured to select at least one visible satellite candidate using the time information and the satellite disposition information, and to determine locations-in-space of the at least one visible satellite candidate with the almanac information. Also, a navigation filter is configured to calculate pseudo-ranges from the at least one visible satellite and the selected at least one visible satellite candidate using the corresponding locations-in-space, and to determine a location of the GPS receiver using the calculated pseudo-ranges.

Abstract: A position calculating method includes: determining a positioning satellite used for position calculation on the basis of at least reliability of satellite orbits in a prediction target period corresponding to a position calculation point, the reliability of satellite orbits being set in long-term predicted orbit data in which satellite orbits of positioning satellites and reliability of the satellite orbits are associated for each prediction target period; and calculating a position on the basis of a positioning signal received from the determined positioning satellite.

Abstract: Disclosed is a method for acquiring a signal of a satellite by a receiver, including pre-storing weighting factors of satellites, which include possibility indexes of satellite signal acquisition with respect to positions and times of the receiver, receiving a request for acquisition of the satellite and initializing operational status information and search history information of the satellites, searching for the satellites in sequence according to the weighting factors, resetting the operational status information and search history information of the satellites based on whether signals of the satellites are detected, updating the weighting factor of a satellite having a signal that has been detected, and selecting the satellite having the signal that has been detected in consideration of the updated weighting factor, and acquiring the signal from the selected satellite.

Abstract: A method of satellite status judgment and computer program applying the same is disclosed. The method includes steps of obtaining a signal variation slope of a first signal of a target satellite during a first observation time period, determining whether the target satellite is under a situation of being masked according to the slope of the first signal, and generating a prompt message when the target satellite is under the situation of being masked.

Abstract: A receiver operating with satellite navigation signals estimates its position by means of a multiplicity of signals each transmitted by another satellite. A subset of satellites is used to calculate the position estimation and checking the pseudoranges of all received satellite signals that did not contribute to this particular estimate with respect to their consensus with this estimate. The subset with the best consensus is determined by combining the subsets with respect to the consensus with all ranging sources in view. Consensus in this context refers to pseudoranges that coincide in a position solution in a consistent way. The satellites with a bias in pseudorange higher than a threshold are identified as faulty satellites, after knowing all consistent satellites. This identifying information is then used to exclude the faulty satellites for the determination of position, velocity, and time in the receiver.