This paper introduces a novel double-differential vector phase-locked loop (DD-VPLL)\nfor Global Navigation Satellite Systems (GNSS) that leverages carrier phase position solutions as\nwell as base station measurements in the estimation of rover tracking loop parameters. The use\nof double differencing alleviates the need for estimating receiver clock dynamics and atmospheric\ndelays; therefore, the navigation filter consists of the baseline dynamic states only. It is shown that\nusing vector processing for carrier phase tracking leads to a significant enhancement in the receiver\nsensitivity compared to using the conventional scalar-based tracking loop (STL) and vector frequency\nlocked loop (VFLL). The sensitivity improvement of 8 to 10 dB compared to STL, and 7 to 8 dB\ncompared to VFLL, is obtained based on the test cases reported in the paper. Also, an increased\nprobability of ambiguity resolution in the proposed method results in better availability for real time\nkinematic (RTK) applications.
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