A method for operating a satellite navigation receiver, the method comprising: receiving (S500) one or more satellite signals; measuring (S502) a carrier phase of the received satellite signals; receiving (S504) a real-time kinematic, RTK, signal encoded with RTK correction data; determining (S506), 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 (S508) a precise signal encoded with precise correction data; determining (S510), 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 (S502) 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 (S504) 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 (S116) a cycle slip in the tracking of the received carrier signal in the relative position mode; and supporting (S118) 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 (S500) one or more satellite signals; measuring (S502) a carrier phase of the received satellite signals; receiving (S504) a real-time kinematic, RTK, signal encoded with RTK correction data; determining (S506), 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 (S508) a precise signal encoded with precise correction data; determining (S510), 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 (S502) 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 (S504) 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 (S116) a cycle slip in the tracking of the received carrier signal in the relative position mode; and supporting (S118) 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. <EOS>