Analysis and comparison of GNSS code tracking with different discriminators

Code tracking is an indispensible operation of a Global Navigation Satellite System (GNSS) receiver. This paper provides analytical expressions for tracking loop performances using quasi-coherent dot product discriminator under small error conditions. Expressions are derived for root mean squared tracking error for arbitrary Signal-in-Space (SIS) spectra, Gaussian noise and non-white interference. Theoretical expressions are compared with previous work and numerical results are provided to examine the effect of different discriminators, SIS modulation designs and types of interference.