Starlink downlink beacons supply Doppler-rate observables that are fused with GPS and IMU data via an extended Kalman filter to support 9D PNT when GNSS is degraded.
PNT Through Optimised LEO Constellation and INS,
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Starlink Beacons for Passive LEO-Aided 9D Navigation
Starlink downlink beacons supply Doppler-rate observables that are fused with GPS and IMU data via an extended Kalman filter to support 9D PNT when GNSS is degraded.