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Abstract

A method for monitoring of the substitution at least one high quality position measurement with a set of upgraded low quality position measurements comprising the steps of: (A) selecting a high quality source of position measurements of the object from a group of high quality sources; (B) obtaining at least one high quality position measurement of the object by using the high quality source; (C) saving at least one high quality position measurement of the object; (D) obtaining at least one low quality position measurement of the object by using a low quality source; (E) substantially continuously monitoring and checking if the currently available high quality position measurement of the object is of substantially high quality; (F) if at least one currently available high quality position measurement of the object is of substantially high quality, using at least one high quality position measurement of the object for navigation purposes of the object; (G) if the currently available high quality position measurement of the object is not of substantially high quality, and if each low quality position measurement of the object is not of substantially high quality, upgrading at least one low quality position measurement of the object by using at least one previously saved high quality position measurement of the object to obtain at least one upgraded low quality position measurement of the object; (H) using at least one upgraded low quality position measurement of the object in place of at least one high quality position measurement of the object for navigation purposes, if each upgraded low quality position measurement of the object is of substantially high quality; and (I) repeating the steps (A-H).

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