US 12638597 B2 / May 26, 2026

Convergent tracking for navigation system using an update determined from subcarrier and code error

An embodiment provides convergent tracking for Global Navigation Satellite System (GNSS) signals (e.g., binary offset carrier (BOC), etc.) in GNSS applications, such as positioning, navigation, timing, and guidance. The embodiment employs a situation-aware two-dimensional (2D) routing algorithm that provides fast convergence to stable tracking. Further, an embodiment may provide subcarrier phase ambiguity resolution that resolves carrier phase with assurance to support high integrity navigation, including high integrity real-time kinematic (RTK) applications. Moreover, an embodiment may provide tracking to more accurate subcarrier phase estimates. This may provide up to four times better ranging accuracy. Accordingly, an embodiment provides robust tracking performance of BOC signals under varying levels of dynamics, high jamming tolerance, more ranging accuracy, support for high integrity navigation, and support for high integrity RTK based positioning and high precision navigation and automatic landing.