“…As a benchmark algorithm we consider the adaptive extended Kalman PLL with AR scintillation model presented in [15] and we label this algorithm as EKPLL-sAR-ADAPT in the following. A Kalman DLL would further reduce the noise sensitivity of the code loop [28], [29], but as we are only interested in the evaluation of the proposed algorithms with respect to carrier phase estimation, we use a second order noncoherent DLL configured with the initial time-delay estimate being the timedelay of the simulated input signal as well as with a very small loop bandwidth and extended correlators [28] for the early and late correlators in order to reduce the noise and keep the code replica synchronized with the input signal, so that approximations (18), (19) and (20) The discriminator-based Kalman PLL of KPLL-sKIN is defined by F 1 , Q 1 , H 1 , and R 1 , as described in the previous section. The innovations are directly computed by the phase discriminator given in (19).…”