Modeling variable environment structures

A method (400) of modeling a variable environment structure includes receiving an estimated position (12) of a GNSS receiver (114) in an environment (100) and a plurality of GNSS related features (232) corresponding to GNSS signals (22) received at the GNSS receiver. The method also includes determining a plurality of candidate orientations (224) with respect to the estimated position of the GNSS receiver. Each candidate orientation corresponds to a possible actual position of the GNSS receiver in the environment. For each candidate orientation, the method further includes generating a respective probability (236) that the respective candidate orientation includes an actual position of the GNSS receiver as an output from a GNSS positioning model (230) configured to receive the plurality of GNSS-related features as an input. The method further includes selecting, from the plurality of candidate orientations, a respective candidate orientation having a maximum probability as an actual position of the GNSS recei