A method for mitigating a multi-path-induced error in a global navigation satellite system comprises, for a respective measurement epoch, obtaining respective representations of a composite signal including a plurality of value-pairs of the composite signal. The method further comprises, with respect to the measurement epoch: obtaining a plurality of coefficients for a set of linear equations based on the plurality of value-pairs of the composite signal; iteratively obtaining solutions for the set of linear equations, thereby solving for a code tracking timing offset, a time delay of a multi-path signal of the composite signal relative to its direct-path signal, and orthogonal representations of the multi-path signal; determining a phase error between the composite signal and the direct-path signal, due to the time delay, in accordance with the orthogonal representations of the multi-path signal; and correcting for the code tracking timing offset and the phase error.