our drone has a Here4 as primary GPS and a Here3 GPS as secondary GPS and we are using a NTRIP caster to feed RTCM data to the flight controller.
Monday, right after takeoff GPS2 first lost its navigation solution and then a few seconds later, it came back with a new navigation solution and went to status 5. However, the position indicated was roughly 8.5 km away from the location of the drone. Since the GPS indicated that this position was reliable (status 5 and acceptable accuracy metrics), this caused mayor problems in the blended position.
My question is the following: What caused such a miscomputation for GPS 2? Could it be caused by misinterpretation of the RTCM data or is spoofing more likely?
GPS status (red/green, left axis), Num sats (blue/yellow, right axis)
GPS accuracies for time the position was wrong
