Positioning system and method

A method, performed in a positioning system, comprising:

• receiving, at a receiver, a plurality of signals from at least one remote source;
• selecting at least one signal in the plurality of signals;
• determining a first motion estimate of the receiver using sensors associated with the receiver;
• generating, from the at least one selected signal, a motion-compensated correlation signal based on the determined first motion estimate of the receiver;
• determining, using the motion compensated correlation signal, a second motion estimate of the receiver;
• using a difference between the first motion estimate and the second motion estimate of the receiver to correct at least one of motion sensor errors or clock errors.

A positioning system for determining a position of a receiver, comprising:

• a processor configured to execute instructions stored in a computer readable medium that cause the processor to perform the following operations:
• selecting at least one signal in a plurality of received signals;
• determining a first motion estimate of the receiver using data obtained by motion sensors associated with the receiver;
• generating, from the at least one selected signal, a motion-compensated correlation signal based on the determined first motion estimate of the receiver;
• determining, using the motion-compensated correlation signal, a second motion estimate of the receiver;
• determining a difference between the first motion estimate and the second motion estimate of the receiver;
• and
• using at least the determined difference between the first motion estimate and the second motion estimate of the receiver to identify and correct motion sensor errors.