A method of global navigation satellite system (GNSS) acquisition, the method comprising: computing at least one line of sight angle, α, wherein the LOS angle is an angle between a line of sight vector of a first satellite of a plurality of satellites and a line of sight vector of a second satellite of the plurality of satellites, wherein each line of sight vector is the line of sight vector between a receiver and the respective satellite of the plurality of satellites, and wherein a signal of the first satellite is acquired at a first frequency previous to acquiring a signal of the second satellite; computing at least one maximum Doppler difference, wherein the maximum Doppler difference is a maximum Doppler difference computed between the first satellite and the second satellite of the plurality of satellites based on the LOS angle and a maximum velocity vector attainable by the receiver, wherein Doppler is induced at least by movement of the receiver; wherein an orientation of the maximum velocity vector is defined by the angle β between the velocity vector and a plane formed by the LOS vectors of the first and second satellite s, and by the angle γ between the velocity vector and the LOS vector to the first satellite and wherein the values for angle β and γ maximizing the Doppler difference are defined by the following equations: β = 0 γ = α 2 + 3 2 π such that the maximum Doppler difference between the first and second satellite s is computed as: Max Doppler Diff = ± 2 Max Doppler ∗ sin α 2 where maximum Doppler difference is a positive or negative product, Max Doppler is the magnitude of the maximum Doppler based on the maximum velocity possible for the receiver and α is the angle between line of sight vector of first satellite and the second satellite; determining a final frequency search range based on the at least one maximum Doppler difference computed between the first satellite and the second satellite, wherein the frequency search range includes a center frequency equal to the first frequency at which the first satellite was acquired; and acquiring a GNSS signal from the second satellite at a second frequency. computing at least one line of sight angle, α, wherein the LOS angle is an angle between a line of sight vector of a first satellite of a plurality of satellites and a line of sight vector of a second satellite of the plurality of satellites, wherein each line of sight vector is the line of sight vector between a receiver and the respective satellite of the plurality of satellites, and wherein a signal of the first satellite is acquired at a first frequency previous to acquiring a signal of the second satellite; computing at least one maximum Doppler difference, wherein the maximum Doppler difference is a maximum Doppler difference computed between the first satellite and the second satellite of the plurality of satellites based on the LOS angle and a maximum velocity vector attainable by the receiver, wherein Doppler is induced at least by movement of the receiver; wherein an orientation of the maximum velocity vector is defined by the angle β between the velocity vector and a plane formed by the LOS vectors of the first and second satellite s, and by the angle γ between the velocity vector and the LOS vector to the first satellite and wherein the values for angle β and γ maximizing the Doppler difference are defined by the following equations: β = 0 γ = α 2 + 3 2 π such that the maximum Doppler difference between the first and second satellite s is computed as: Max Doppler Diff = ± 2 Max Doppler ∗ sin α 2 where maximum Doppler difference is a positive or negative product, Max Doppler is the magnitude of the maximum Doppler based on the maximum velocity possible for the receiver and α is the angle between line of sight vector of first satellite and the second satellite; determining a final frequency search range based on the at least one maximum Doppler difference computed between the first satellite and the second satellite, wherein the frequency search range includes a center frequency equal to the first frequency at which the first satellite was acquired; and acquiring a GNSS signal from the second satellite at a second frequency.