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This paper studies Bayesian filtering techniques applied to the design of advanced delay/phase tracking loops in GNSS receivers, which estimate not only direct path parameters but those of multipath. The analysis includes trade-off among realistic propagation channel models and the use of a realistic simulation framework. The proposed filtering technique implements Rao-Blackwellization of linear states and a particle filter for the nonlinear partition. Computer simulations highlight the superior performance of such method when compared to traditional DLL/PLL based schemes, approaching theoretical limits.
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