Systems and methods for mitigating multipath signals in a receiver are provided. In this regard, a representative system, among others, includes a receiver comprising an antenna being configured to receive signals from a plurality of satellites, and a computing device being configured to: generate pseudorange measurements based on the received satellites signals, process the generated pseudorange measurements to reduce its pseudorange residuals based on statistical modeling in order to mitigate multipath errors, and compute navigation solutions based on the processed pseudorange measurements. A representative method, among others, for mitigating multipath signals in a receiver, comprises: receiving the pseudorange measurements; processing the received pseudorange measurements to reduce its pseudorange residuals based on statistical modeling in order to mitigate multipath errors; and computing navigation solutions based on the processed pseudorange measurements.