Joint GNSS-Terrestrial AP Geolocating

A network device, comprising:

• a processor;
• at least one network interface controller configured to provide access to a network;
• and
• a memory communicatively coupled to the processor, wherein the memory comprises a geolocation logic that is configured to:
• obtain one or more pseudorange measurements via a global navigation satellite system (GNSS) receiver;
• obtain one or more inter-network device ranging measurements to one or more other network devices;
• transmit an indication of the one or more pseudorange measurements and an indication of the one or more inter-network device ranging measurements to a network node;
• and
• receive an indication of a geo-position of the network device from the network node.

A method for joint geolocating, comprising:

• collecting a plurality of pseudorange measurements from a first set of network devices, each network device in the first set of network devices including a respective global navigation satellite system (GNSS) receiver for obtaining one or more pseudorange measurements;
• collecting one or more inter-network device ranging measurements from a second set of network devices, the second set of network devices sharing at least one network device with the first set of network devices;
• and
• determining, for each network device in a third set of network devices, a geo-position based at least in part on at least some of the plurality of pseudorange measurements and at least some of the one or more inter-network device ranging measurements, the third set of network devices including one or more first network devices in the first set of network devices and one or more second network devices in the second set of network devices.