Sequential GPS Doppler carrier phase count measurements are used for precision sequential determination of position and velocity of a GPS receiver, such as for orbit determination and geolocation, with minimum throughput time. Real-time orbit determination and geolocation performance is enabled with an optimal sequential filter, and near-real-time performance is enabled with an optimal fixed-lag smoother. Many problems associated with prior art orbit determination are eliminated by addressing the "cycle slip" problem, the unknown initial range problem with RANGE.sup.CP measurement representations, the problem of serial correlation in the measurements due to reprocessing of overlapping thermal noise. Also, the present invention significantly attenuates the carrier signal phase variation due to rotation of receiver antenna relative to transmitter antenna because the sequential phase count time intervals are sufficiently short.