A Global Navigation Satellite System (GNSS) device for adaptive multi-rate navigation includes detection of a first set of signal measurements and a second set of signal measurements from a plurality of received and acquired GNSS baseband signals. The detected second set of measurements corresponding to a plurality of measurements associated with signal blockage of the baseband signals, are eliminated. A plurality of tracking loop values are computed only from for the detected first set of signal measurements, at a defined tracking loop rate based on the received baseband signals. A motion-path of the device computed based on at least the computed plurality of tracking loop values for the detected first set of signal measurements.