Vehiclepositioningwiththeglobalnavigationsatellitesystem(GNSS)inurbanenvironmentsfacestwoproblemswhichareattenuationanddynamic.FortraditionalGNSSreceivershardlyabletotrackdynamicweaksignals,thecouplingbetweenallvisiblesatellitesignalsisignoredintheabsenceofnavigationstatefeedback,andthermalnoiseerroranddynamicstressthresholdarecontradictoryduetonon-coherentdiscriminators.Thevectordelay/frequencylockedloop(VDFLL)withnavigationstatefeedbackandthejointvectortrackingloop(JVTL)withcoherentdiscriminatorwhichisasynchronizationparametertrackingloopbasedonmaximumlikelihoodestimation(MLE)areproposedtoimprovethetrackingsensitivityofGNSSreceiverindynamicweaksignalenvironments.Ajointvectorpositiontrackingloop(JVPTL)directlytrackinguserpositionandvelocityisproposedtofurtherimprovetrackingsensitivity.ThecoherentnavigationparameterdiscriminatorofJVPTL,beingabletoeasethecontradictionbetweenthermalnoiseerroranddynamicstressthreshold,isbasedonMLEaccordingtothenavigationparameterbasedlinearmodelofreceivedbasebandsignals.SimulationresultsshowthatJVPTL,whichcombinestheadvantagesofbothVDFLLandJVTL,performsbetterthanbothVDFLLandJVTLindynamicweaksignalenvironments.
