A method of acquiring a signal includes generating a first set of acquired signal power values comprising an acquired signal power value for each of a plurality of Doppler bins over a first predetection integration time (PIT) interval, and generating a second set of acquired signal power values comprising an acquired signal power value for each of the plurality of Doppler bins over a second subsequent PIT interval. The first and the second sets are used to generate at least three additional sets of acquired signal power values. A new set is generated by selecting the maximum of the summations for each Doppler bin from the three additional sets, and a Doppler shift is identified from the Doppler bin having the maximum summation value. The output may be used to initialize a first and a second extended Kalman filters for tracking a carrier signal and a code signal, respectively.