This application relates to a data signal processing method. In one aspect, the method includes receiving a data signal from at least one global navigation satellite system (GNSS) satellite and obtaining a pseudo-range of the at least one GNSS satellite by using the data signal. The method may also include obtaining a range-acceleration based on the pseudo-range. The method may further include applying, to the data signal, a variance obtained by assigning a weight according to a noise model to the range-acceleration.