Node-based global navigation satellite system

A method comprising:

• receiving a Positioning, Navigation and Timing (“PNT”) signal from each node of a plurality of nodes by a receiver;
• receiving a GNSS signal from one or more GNSS satellites by the receiver;
• receiving a trust status list from each node of the plurality of nodes by the receiver;
• based on the trust status list received from each node of the plurality of nodes, using an AI model to determine a trust status for each node of the plurality of nodes by the receiver and a trust status for each GNSS satellite of one or more GNSS satellites, wherein the trust status for a node or a GNSS satellite is one of trusted or not trusted;
• for each node of the plurality of nodes and each GNSS satellite with a trust status that is trusted, using the PNT signal received from the node and GNSS satellite to provide PNT by the receiver;
• and
• for each node of the plurality of nodes and GNSS satellite with a trust status that is not trusted, discarding the PNT signal received from the node by the receiver.

A system comprising:

• a receiver;
• one or more GNSS satellites;
• and
• a plurality of nodes, wherein each node is adapted to:
• receive a GNSS signal from the one or more GNSS satellites;
• receive a first emulated Positioning, Navigation and Timing (“PNT”) signal from another node of the plurality nodes;
• based on the received GNSS signal and the first emulated PNT signal, use an AI model to determine a trust status of the another node and the node, wherein the AI model takes as input each received first PNT signal and the received GNSS signal;
• generate a second emulated PNT signal from the received GNSS signal and the first emulated PNT signal;
• and
• transmit the generated second emulated PNT signal and trust status of the another node and the node to the receiver.