This paper studies Bayesian filtering techniques applied to the design of advanced delay tracking loops in GNSS receivers with multipath mitigation capabilities. The analysis includes tradeoff among realistic propagation channel models and the use of a realistic simulation framework. After establishing the mathematical framework for the design and analysis of tracking loops in the context of GNSS receivers, we propose a filtering technique that implements Rao-Blackwellization of linear states and a particle filter for the nonlinear partition and compare it to traditional delay lock loop/phase lock loop-based schemes.
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