A GNSS spoofing signal detection and elimination includes acquiring and tracking a plurality of GNSS signals, authenticating the acquired signals based on available authentication information to determine if the acquired signals are authentic, unverified, or counterfeit, creating a first list of the authentic signals and a second list of unverified signals, by removing the counterfeit signal(s), creating a plurality of sets of the signals by selecting at least four GNSS signals such that each set includes all of the authentic signals and at least one unverified signal, calculating PVT solutions and post-fit residuals for each set, estimating authenticity of unverified signals by analyzing the PVT solutions and post-fit residuals, estimating authenticity and accuracy of PVT solutions based on the estimation, and outputting a list of all of the acquired GNSS signals with the respective authenticity, and a list of all possible PVT solutions with the respective authenticity and accuracy.