Accurate, ubiquitous and reliable navigation can make transportation systems (road, rail, air, and marine) more efficient, safer and sustainable by enabling path planning, route optimization and fuel economy. However, accurate navigation in urban contexts have always been a challenging task due to significant chances of signal interruption, multipath and non-Line of sight (NLOS) signal reception. This paper presents an Environment-aware navigation (EAN) algorithm which can detect and characterize the working environment of a GNSS receiver and then applies the mitigation strategy accordingly by anticipating possible degradation in navigation performance. The proposed EAN algorithm utilizes certain GNSS measurement parameters to categorize the environment into standard, degraded and highly degraded and then updates the receiver’s tracking loop parameters as per the detected environment. This allows the receiver to adaptively mitigate the effects of multipath/ NLOS which are inherently dependent on the type of environment. To validate the performance of the proposed EAN algorithm, a detailed study on the performance of a multi-GNSS receiver in the quad-constellation mode, i.e., GPS, BeiDou, Galileo, and GLONASS is carried out by driving an instrumented vehicle inside and around a city center and acquiring GNSS signals in different environments. The performance of the EAN-enabled GNSS receiver in terms of fundamental quality indicators is then compared with the standard receiver. The experimental results show that the proposed EAN algorithm can be a good contributor in improving the GNSS performance in urban environments by anticipating the potential degradation in navigation performance and initiating an adaptive mitigation strategy. The EAN-enabled GNSS receiver achieved a lane level accuracy of less than 2 m for 53% of the total experimental time-slots in a highly degraded environment which was previously only 32% without using EAN.