A method for navigating a moving object according to signals from satellites, the method comprising in the moving object, receiving satellite navigation signals from a plurality of satellites; generating satellite navigation data for the moving object from the received satellite navigation signals for a first specific time prior to a current time; receiving moving base data from a moving base, the received moving base data including satellite measurement data of the moving base for the first specific time; determining a relative position vector of the moving object relative to the moving base for the first specific time, based on the received moving base data and the satellite navigation data for the moving object comprising generating a real-time-kinematic value for the relative position vector at the first specific time, using the received moving base data for the first specific time and the generated satellite navigation data for the moving object for the first specific time; determining a current relative position vector for the current time by combining the RTK value for the relative position vector at the first specific time and a propagated relative position vector; and sending a signal reporting information corresponding to the current relative position vector to a home system; characterized in that determining the relative position vector for the current time comprises, when a predefined criterion is satisfied, combining the RTK value for the relative position vector at the first specific time and the propagated relative position vector, the propagated relative position vector comprising a position-propagation calculated value for the relative position vector, wherein the predefined criterion is based on attributes of variance-covariance matrices for both the RTK value and the propagated relative position vector. receiving satellite navigation signals from a plurality of satellites; generating satellite navigation data for the moving object from the received satellite navigation signals for a first specific time prior to a current time; receiving moving base data from a moving base, the received moving base data including satellite measurement data of the moving base for the first specific time; determining a relative position vector of the moving object relative to the moving base for the first specific time, based on the received moving base data and the satellite navigation data for the moving object comprising generating a real-time-kinematic value for the relative position vector at the first specific time, using the received moving base data for the first specific time and the generated satellite navigation data for the moving object for the first specific time; determining a current relative position vector for the current time by combining the RTK value for the relative position vector at the first specific time and a propagated relative position vector; and sending a signal reporting information corresponding to the current relative position vector to a home system; characterized in that determining the relative position vector for the current time comprises, when a predefined criterion is satisfied, combining the RTK value for the relative position vector at the first specific time and the propagated relative position vector, the propagated relative position vector comprising a position-propagation calculated value for the relative position vector,