Abstract: Techniques are provided for non-linear satellite state modeling. First global navigation satellite systems (GNSS) signal data is obtained from a set of GNSS satellites. First satellite state data is obtained. The first satellite state data includes orbit data for the set of GNSS satellites. A non-linear satellite state model that includes a plurality of model parameters is generated. The non-linear satellite state model is generated by adjusting the plurality of model parameters based on the first GNSS signal data and the first satellite state data. The non-linear satellite state model outputs satellite state data based on GNSS signal data. Second GNSS signal data is obtained from the set of GNSS satellites. A set of updated satellite state data is calculated using the non-linear satellite state model and the second GNSS signal data.