FIELD: radio engineering, communication.
SUBSTANCE: invention relates to radio engineering and can be used to verify position information. A satellite positioning apparatus (GNSS) includes a set (3) of Kalman filters. The method includes, for each of the filters in the set, steps of: correcting a navigation solution generated by a given filter, taking into account an estimate of the effect of satellite failure on said navigation solution; calculating cross deviation which reflects the divergence between the observation, which corresponds to an unprocessed measurement from the satellite, not used by said filter, and a posterior estimate of said observation in accordance with the navigation solution generated by said filter and performing statistical verification of the cross deviation, the result of which determines the presence or absence of satellite failure, the unprocessed measurement of which is not used by said filter.
EFFECT: high accuracy of determining position information.
11 cl, 2 dwg
