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