Nowadays, Global Navigation Satellite Systems (GNSS) receivers are embedded in a variety of electronic devices, and a growing number of users depend on them to navigate themselves to a destination. GNSS technology allows the user to estimate its position through multilateration, which is based on satellite detection, the estimation of the signal Time-of-Arrival (ToA), and the subsequent measurement of the receiver-to-satellite ranges (commonly referred to as “pseudoranges”). The low power of GNSS signals makes the continuous satellite’s signal tracking a challenging task for the receiver, especially considering the tight constraints on resource usage. Internet-of-Things (IoT) electronics host “by definition” low-power-consumption network connectivity, and they could enable new patterns for the Position Velocity and Time (PVT) estimation, based on collaborative, multi-agent Positioning, Navigation, and Timing (PNT) methods that would not imply a continuous operation of the embedded GNSS receiver.