A method for operating a satellite navigation receiver, the method comprising: receiving one or more satellite signals; measuring a carrier phase of the received satellite signals; receiving a real-time kinematic, RTK, signal encoded with RTK correction data; determining, by an RTK position estimator, an RTK position based on the measured carrier phase of the received satellite signals and the received RTK correction data in an RTK correction mode; receiving a precise signal encoded with precise correction data; determining, by a precise positioning estimator, a precise position based on the measured carrier phase of the received satellite signals and the received precise correction data in a precise correction mode comprising precise orbit corrections and clock corrections; determining a reference frame bias or offset vector between the precise position and the RTK position for the same measurement time or epoch; and upon loss, interruption or corruption of the RTK signal, switching a mobile receiver to a relative position mode based on a last available RTK position, wherein a next position estimate is compensated by the offset vector or reference frame bias to avoid a jump or discontinuity in the next position estimate with respect to the last available RTK position; detecting a cycle slip in the tracking of the received carrier signal in the relative position mode; and supporting a relative position estimation framework for relative navigation over a time interval exceeding multiple epochs by establishing a series of chained relative position vectors of the mobile receiver from a next initial position that is established or coextensive with a last known relative position of the relative position estimator of the mobile receiver prior to detection of the cycle slip. receiving one or more satellite signals; measuring a carrier phase of the received satellite signals; receiving a real-time kinematic, RTK, signal encoded with RTK correction data; determining, by an RTK position estimator, an RTK position based on the measured carrier phase of the received satellite signals and the received RTK correction data in an RTK correction mode; receiving a precise signal encoded with precise correction data; determining, by a precise positioning estimator, a precise position based on the measured carrier phase of the received satellite signals and the received precise correction data in a precise correction mode comprising precise orbit corrections and clock corrections; determining a reference frame bias or offset vector between the precise position and the RTK position for the same measurement time or epoch; and upon loss, interruption or corruption of the RTK signal, switching a mobile receiver to a relative position mode based on a last available RTK position, wherein a next position estimate is compensated by the offset vector or reference frame bias to avoid a jump or discontinuity in the next position estimate with respect to the last available RTK position; detecting a cycle slip in the tracking of the received carrier signal in the relative position mode; and supporting a relative position estimation framework for relative navigation over a time interval exceeding multiple epochs by establishing a series of chained relative position vectors of the mobile receiver from a next initial position that is established or coextensive with a last known relative position of the relative position estimator of the mobile receiver prior to detection of the cycle slip.