A method is provided for estimating parameters useful to determine the position of a global navigation satellite system (GNSS) receiver or a change in the position thereof. The method includes the steps of: obtaining at least one GNSS signal received at the GNSS receiver from each of a plurality of GNSS satellites; obtaining, from at least one network node, precise satellite information on: (i) the orbit or position of at least one of the plurality of GNSS satellites, and (ii) a clock offset of at least one of the plurality of GNSS satellites; identifying, among the obtained GNSS signals, a subset of at least one GNSS signal possibly affected by a cycle slip, the identified subset being hereinafter referred to as cycle-slip affected subset; and estimating parameters useful to determine the position of the GNSS receiver or a change in the position of the GNSS receiver using at least some of the obtained GNSS signals which are not in the cycle-slip affected subset, and the precise satellite information.