Satellite-based positioning

A system for processing satellite signals to derive a geospatial position, the system comprising:

• a GNSS antenna configured to receive GNSS signals from a plurality of GNSS satellites;
• a measurement engine configured to correlate pseudo-random noises of the GNSS signals to obtain pseudoranges;
• and
• a positioning engine configured to compute a geospatial position based on a subset of the GNSS signals and/or pseudoranges,
• a SLAM unit configured to determine an orientation of the imaging device while capturing the image, particularly using visual SLAM based on image data captured by the imaging device;
• a signal-processing module configured to extract signal features from the GNSS signals;
• an image-processing module configured to process the image to extract image features by using image segmentation, and/or by applying machine learning to compute an image feature vector or an image embedding vector for at least a third subset of pixels of the image, the third subset of pixels being defined based on a position of the respective GNSS satellite;
• and
• a classifier module embodied as a neural network or a support vector machine and configured to derive, based on feature combinations of a plurality of GNSS satellites and by applying machine learning, a signal classification and/or an estimated local error of the respective GNSS signal, each feature combination being a combination of the extracted signal features and the extracted image features of the respective GNSS signal;
• wherein the positioning engine is configured to compute the geospatial position based also on the signal classification and/or on the estimated local error for each GNSS signal of the subset.