Abstract: The GPS/GNSS receiver and method disclosed herein improves the GPS/GNSS receiver tracking sensitivity for detecting low signal-to-noise (SNR) GPS/GNSS signals through improved vector tracking, multibit correlation, improved extended range code-phase discrimination, and discrimination and navigation filter measurement via Probabilistic Data Association, individually or in combination. The solution is achieved without any external data aiding, such as from an inertial measurement unit, other wireless infrastructure source, or communication of GPS/GNSS satellite vehicle (SV) subframe data to the GPS/GNSS receiver over a data link.