The pedantically correct way to check that a .so exports a symbol is nm --demangle --dynamic --defined-only --extern-only <lib.so> | grep <symbol>.
Without --defined-only your command also shows undefined symbols.
Without --extern-only it also shows symbols with internal linkage which are unavailable for linking.
It looks like you need to link another library because Gps_Ephemeris::Gps_Ephermeris() is not resolved by linking libgnss_system_parameters_dyn.so. A good way to start is that library’s documentation and examples.