Error and integrity evaluation via motion prediction

A control device configured for error and integrity evaluation during a position determination by performing operations comprising:

• recording position values (P−N, P−2, P−1) and calculating clock errors of a receiver via time-discrete runtime measurements by means of a satellite navigation system;
• recording a first pseudo-distance at a later time via time-discrete runtime measurement by means of the satellite navigation system;
• extrapolating a position value (P′0) of the receiver at the later time based on a trajectory that reflects the preceding motion path of the receiver and extrapolating a clock error of the receiver at the later time based on a number of clock errors calculated before the later time;
• establishing a distance (r′0) between the extrapolated position value (P′0) of the receiver and the position of a satellite (S0) of the satellite navigation system at the later time;
• wherein a quality measure for the usability of the position determination with the satellite is obtained by
• forming a second pseudo-distance based on the sum of the established distance (r′0) and the extrapolated clock error at the later time, and
• comparing the second pseudo-distance with the first pseudo-distance.