In this paper, the authors describe determination of GPS receiver position using Bancroft algorithm. The position is determined by obtaining pseudo ranges from seven different GPS satellites. The measured ranges do not represent the true ranges as the signal coming from a GPS satellite will be affected by various errors like ephemeris error; propagation error in the form of ionospheric and tropospheric delays; satellite and receiver clock biases with respect to GPS Time (GPST); multipath error etc. Most of these errors can be estimated accurately and can be accounted for.