A method of global navigation satellite system (GNSS) acquisition comprises: computing a line of sight (LOS) angle between a LOS vector of a first satellite and a LOS vector of a second satellite, wherein each LOS vector is the LOS vector between a receiver and the respective satellite; computing a maximum Doppler difference, wherein the maximum Doppler difference is computed between the first satellite and the second satellite based on the LOS angle and a maximum velocity vector attainable by the receiver, wherein Doppler is induced at least by movement of the receiver; determining a final frequency search range based on the maximum Doppler difference computed between the first satellite and the second satellite, wherein the frequency search range includes a center frequency equal to the first frequency at which the first satellite is found; acquiring a GNSS signal from the second satellite at a second frequency.