A multipath mitigation method consists of locating a multipath-invariant (MPI) point of an ideal autocorrelation function and measuring the distance between the MPI point and DLL. The same MPI point is located in a received correlation function, and the distance between the point and the DLL, now affected by multipath, is measured. The difference between the ideal distance and the actual distance is the code tracking error resulting from multipath. The error is subtracted from the computed pseudorange or used to control the DLL. The method can be used to reduce the effects of all types of tracking error sources, such as signal transmission failure or code noise.