Since ancient times, people have looked at the sky to navigate. Long time ago, sailors relied on the patterns of stars in the night sky to determine their location and their desired destination. Nowadays, all we require is a simple handheld Global Positioning System (GPS) receiver to pinpoint our precise location anywhere on Earth. Nevertheless, we still depend on objects high in the sky to ascertain our whereabouts and routes. In the contemporary era, instead of stars, we utilize satellites. There are over 30 navigation satellites zooming around high above our planet which can precisely pinpoint our location. Global Navigation Satellite Systems (GNSS) comprise constellations of satellites orbiting Earth, which broadcast their positions in space and time, along with networks of ground control stations and receivers that calculate ground positions through trilateration. GNSS technology is utilized in various forms of transportation, including space stations, aviation, maritime, rail, road, and mass transit. Positioning, navigation, and timing (PNT) play a pivotal role in