No, you do not know *exactly* where a satellite is. All measurements have error. You know where the satellite is, to some precision/accuracy. And the farther away *you* are from that position, the more that inexact precision contributes to error in *your* computed position. GPS is meant to be used for positions a few hundred to a few thousand miles away from the satellites, not 250,000 miles away. So the errors are large - 1.5 km according to TFA. Which is still great, all things considered, but not great for actual navigation on the lunar surface or in lunar orbit.