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.