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.
Application for Modification of Authorization for the SpaceX NGSO Satellite System,
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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.