Broadcast and utilization of precise GNSS correction data

A mobile system, comprising:

• a GNSS receiver configured to receive a first set of correction data, which is broadcasted from a first transmitter, wherein the first set of correction data comprises Differential Global Navigation Satellite System (D-GNSS) correction data;
• and
• a computing system comprising:
• a computer processor;
• and
• memory storing program instructions that, when executed, cause the computer processor to:
• estimate, using a real-time kinematics (RTK) method, a first position of the mobile system using at least a portion of the first set of correction data;
• estimate, using a precise point positioning (PPP) estimation method, one or more unknown parameters of the PPP estimation method based at least on the estimated first position of the mobile system and the first set of correction data;
• estimate a second position of the mobile system using the estimated one or more unknown parameters and the PPP estimation method, wherein the second position of the mobile system is different from the first position of the mobile system and is obtained by fusing time and position estimates of output from the RTK method and the PPP method;
• and
• output a combined position based on the first position and the second position.

A non-transitory computer readable medium comprising program instructions that, when executed by a processor of a mobile system, perform a method for determining positions of the mobile system, comprising:

• receiving, by a GNSS receiver of the mobile system, a first set of correction data which is broadcasted from a first transmitter, wherein the first set of correction data comprises Differential Global Navigation Satellite System (D-GNSS) correction data;
• estimating, using a real-time kinematics (RTK) method, a first position of the mobile system using at least a portion of the first set of correction data;
• estimating, using a precise point positioning (PPP) estimation method, one or more unknown parameters of the PPP estimation method based at least on the estimated first position of the mobile system and the first set of correction data;
• estimating, a second position of the mobile system using the estimated one or more unknown parameters and the PPP estimation method, wherein the second position of the mobile system is different from the first position of the mobile system and is obtained by fusing time and position estimates of output from the RTK method and the PPP method;
• and
• outputting a combined position based on the first position and the second position.