Efforts are focused on augmentation and integration of existing GNSS systems with other navigation systems like cheap inertial systems (Attitude and Heading Reference System- AHRS for instance).
The keyword is integrity.
Cutting-edge research programs include integrity improvement by augmentation and integration of existing GNSS systems, improvement the positioning in urban environment, detection of clock failures for GNSS system times and others. Development of new algorithms for position and attitude determination by GNSS signals and ground beacons is seen as a promising way for integrity improvement.