Systems and methods for satellite-based navigation

A method for determining position of a mobile system, the method comprising:

• receiving global navigation satellite (GNSS) signals by a receiver of the mobile system;
• generating a plurality of position estimates based on at least pseudo-distances determined from at least some of the GNSS signals, wherein each position estimate is generated based on a different set of pseudo-distances;
• determining an inconsistency in one or more of the position estimates based on verification information;
• generating a trust assessment for each position estimate based on determined inconsistencies;
• outputting a position estimate associated with a higher trust assessment as a position of the mobile system;
• and
• reducing an influence of a GNSS signal on a future position estimate generation based on a lower trust assessment for position estimates generated based on the GNSS signal.

A non-transitory computer readable storage medium comprising one or more programs, which when executed by one or more processors of a mobile system, cause the one or more processors to perform a method comprising:

• generating a plurality of position estimates based on at least pseudo-distances determined from at least some global navigation satellite (GNSS) signals received by a receiver of the mobile system, wherein each position estimate is generated based on a different set of pseudo-distances;
• determining an inconsistency in one or more of the position estimates based on verification information;
• generating a trust assessment for each position estimate based on determined inconsistencies;
• outputting a position estimate associated with a higher trust assessment as a position of the mobile system;
• and
• reducing an influence of a GNSS signal on a future position estimate generation based on a lower trust assessment for position estimates generated based on the GNSS signal.