There are situations where GPS signals are received from less than four satellites. In order to improve the GPS location availability, disclosed here are systems and methods for synthesizing GPS measurements, which, together with fewer than four available real GPS signals, can be used to calculate a position fix. In particular, GPS range measurements for lost satellites, which are satellites that were previously tracked but are now not tracked, are synthesized to improve GPS signal availability. The synthesized measurements are used along with real measurements to enable accurate position fix even when GPS satellite availability is poor. Different synthesized measurement generation schemes, depending on whether an INS/DR aiding system is available, are further described herein.