A method and apparatus for mitigating multipath effects in a satellite signal receiver is described. The method includes computing at least one pseudorange residual as a function of (i) a measured pseudorange to a given satellite, and (ii) an expected pseudorange to the given satellite, which is derived by mathematically projecting a pseudorange to the given satellite. The method also includes applying the measured pseudorange to a sequential-estimation filter, which is configured to solve a navigation-solution problem, when the pseudorange residual satisfies a given threshold.

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> Journalling non-navigation activity in a navigation-based application

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