This paper presents a simple recursive method to estimate the position of a stationary receiver using the difference of Global Positioning System (GPS) pseudorange measurements. In contrast to conventional Differential GPS (DGPS), the proposed simple method uses the difference of pseudorange measurements corresponding to a single receiver itself without requiring a fixed station with known location. The use of difference measurements reduces the effects of the various noise terms involved in pseudorange measurements. According to the proposed method, the position of the receiver is estimated recursively using an optimal linear approximation of the pseudorange nonlinear equations. The effectiveness of the proposed method is demonstrated on the estimation of the position of a stationary receiver, and its performance is compared to the performance of a classical approach. The results show that the proposed method outperforms the classical approach.