feat(track): add VectorPLLAndDLL vector-tracking Doppler estimator by giove-a · Pull Request #204 · JuliaGNSS/Tracking.jl

giove-a · 2026-07-20T21:21:26Z

Summary

Adds VectorPLLAndDLL, a vector-tracking (VDFLL) Doppler estimator whose
per-satellite carrier and code loops are closed centrally by an external
navigation filter (e.g. GNSSReceiver.jl) instead of by per-satellite loop
filters. It slots into the existing AbstractDopplerEstimator extension
points, so it works with the current SignalGroups / TrackedSat
architecture without touching the signal path.

How it works

Configuration-only estimator. Per-satellite state lives on each
TrackedSat as a SatVectorPLLAndDLL, seeded via init_estimator_state.
The per-sat update plugs into the shared _update_tracked_sat_doppler
through a _process_estimator_driver_signal method dispatched on the
state type — no changes to downconvert/correlate.
Scalar fallback. A satellite with vt_on unset runs the conventional
FLL-assisted scalar PLL/DLL, auto-sized with the same loop bandwidths as
ConventionalAssistedPLLAndDLL, until it is promoted into the vector loop.
Vector closure. Once promoted, the navigation filter's NCO corrections
close the loops: the code Doppler follows code_freq_update directly (code
loop filter bypassed) and carrier_freq_update drives the FLL branch of
the carrier filter while the PLL branch still runs on the satellite's own
discriminator. The DLL/FLL discriminator outputs are accumulated for the
navigation filter to consume.

Receiver-facing API

Membership / NCO-feedback managers, with all-groups and group-scoped forms
(the group selector disambiguates PRNs across constellations):
update_vt_states!, set_vt_on!, set_code_freq_updates!,
set_carrier_freq_updates!. update_vt_states! promotion is
one-directional; use set_vt_on! to demote. Accumulator resets
(reset_code_discr_acc!, reset_carrier_discr_acc!) reset every vector-loop
satellite. mean_code_discriminator / mean_carrier_discriminator read the
(count, sum) accumulators through the averaging convention in one place
(sum / count, or nothing when empty) so consumers don't re-implement it.

Only state the navigation filter consumes is kept — availability and
signal-amplitude tracking are the receiver's responsibility and are not part
of this estimator's state. NCO corrections are zeroed on release via
reset_loop_filters! (documented on it), so no separate reset is exported.

Notes

Performance: the estimate path is allocation-free and type-stable in
steady state (0 bytes, matching the conventional estimator); the state
managers are allocation-free.
Docs: new docs/src/vector_tracking.md page, registered in the docs
build.
Tests: test/vector_pll_and_dll.jl covers the per-sat state, seeding,
scalar-fallback parity with ConventionalAssistedPLLAndDLL, vector loop
closure, the state managers (including group-scoped multi-constellation
addressing), and reset_loop_filters!. Full suite green; docs build clean.

Follow-up

The GNSSReceiver.jl side that drives this estimator lands separately; its
sc/vector-tracking branch reads/sets availability on the estimator state,
which now lives receiver-side and will be reconciled there.

🤖 Generated with Claude Code

codecov · 2026-07-20T21:27:11Z

Codecov Report

❌ Patch coverage is 95.09804% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 97.55%. Comparing base (5f03cd2) to head (8ee2ef8).

Files with missing lines	Patch %	Lines
src/vector_pll_and_dll.jl	95.09%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #204      +/-   ##
==========================================
- Coverage   97.87%   97.55%   -0.32%     
==========================================
  Files          32       33       +1     
  Lines        3299     3401     +102     
==========================================
+ Hits         3229     3318      +89     
- Misses         70       83      +13

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github-actions · 2026-07-20T21:36:58Z

Benchmark Results (minimum time) — macos-14

Reporting the minimum over all samples (robust to shared-runner contention), not the median.

Alternative backends vs Float32 (`track!`, PR head)

Legend — backends: F32 Float32 (default) · I16 Int16 · 1b OneBit · 2b TwoBit (2-bit measurement + 2-bit carrier). Time columns are the minimum track! time; ×B = F32 / B (so >1 ⇒ backend B is faster than Float32), ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. 1b/2b are BPSK-only, so their cells are blank for CBOC (Galileo E1B) scenarios.

Scenario	F32	I16	1b	2b	×I16	×1b	×2b
4-antenna @ 5 MHz	11.5 μs	5.8 μs	4.01 μs	8.42 μs	1.98 ✅	2.86 ✅	1.36 ✅
GPS L1CA, 8 sats @ 40 MHz	381.0 μs	118.0 μs	61.0 μs	117.0 μs	3.23 ✅	6.24 ✅	3.27 ✅
GPS L1CA, 8 sats @ 5 MHz	56.8 μs	23.5 μs	17.3 μs	23.8 μs	2.42 ✅	3.28 ✅	2.39 ✅
Galileo E1B, 4 sats @ 25 MHz	141.0 μs	59.0 μs			2.39 ✅
dynamic taps @ 5 MHz (kernel)	6.92 μs	2.23 μs	1.59 μs	2.64 μs	3.1 ✅	4.36 ✅	2.62 ✅
multi-signal N=3 @ 5 MHz	11.2 μs	5.25 μs	3.85 μs	5.93 μs	2.14 ✅	2.92 ✅	1.9 ✅

Time benchmarks (base vs PR head)

Ratio = 5f03cd2… / 8ee2ef8…: >1 means the PR is faster. ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`5f03cd2`…	`8ee2ef8`…	`5f03cd2`… / `8ee2ef8`…
downconvert and correlate/CPU/Float32	2.46 μs	2.5 μs	0.983
downconvert and correlate/CPU/Float32 4ant	4.86 μs	4.88 μs	0.998
downconvert and correlate/CPU/Float64	2.68 μs	2.7 μs	0.991
downconvert and correlate/CPU/Int16	2.61 μs	2.63 μs	0.991
downconvert and correlate/CPU/Int16 4ant	4.82 μs	4.83 μs	0.998
downconvert and correlate/CPU/Int32	2.53 μs	2.56 μs	0.989
fused kernel/1-ant dynamic taps	2.56 μs	2.56 μs	1.0
fused kernel/1-ant static taps	2.06 μs	2.06 μs	1.0
fused kernel/4-ant dynamic taps	7.81 μs	7.79 μs	1.0
fused kernel/4-ant static taps	4.43 μs	4.59 μs	0.966
fused tuple kernel/1-ant N=2	3.27 μs	3.51 μs	0.933 ⚠️
fused tuple kernel/1-ant N=3	3.4 μs	3.41 μs	0.997
fused tuple kernel/2-ant N=2	6.31 μs	6.32 μs	0.999
fused tuple kernel/2-ant N=3	5.61 μs	5.61 μs	1.0
fused tuple kernel/4-ant N=2	11.5 μs	11.6 μs	0.996
fused tuple kernel/4-ant N=3	10.1 μs	10.2 μs	0.992
track/1. Float32/2K – track	2.74 μs	2.67 μs	1.03
track/1. Float32/2K – track!	2.73 μs	2.74 μs	0.998
track/2. L1 8sat/5K – track	49.3 μs	49.7 μs	0.992
track/2. L1 8sat/5K – track!	48.8 μs	49.3 μs	0.99
track/2. L1 8sat/5K – track! Int16	21.3 μs	21.7 μs	0.983
track/2. L1 8sat/5K – track! OneBit	15.7 μs	16.1 μs	0.972
track/2. L1 8sat/5K – track!-threaded	49.4 μs	49.7 μs	0.993
track/2. L1 8sat/5K – track-threaded	49.6 μs	50.0 μs	0.992
track/3. E1B 4sat/25K – track	136.0 μs	136.0 μs	1.0
track/3. E1B 4sat/25K – track!	135.0 μs	135.0 μs	1.0
track/3. E1B 4sat/25K – track! Int16	58.7 μs	58.6 μs	1.0
track/3. E1B 4sat/25K – track!-threaded	136.0 μs	135.0 μs	1.0
track/3. E1B 4sat/25K – track-threaded	136.0 μs	136.0 μs	1.0
track/4. 8L1+8E1B/25K – track	490.0 μs	490.0 μs	1.0
track/4. 8L1+8E1B/25K – track!	489.0 μs	489.0 μs	1.0
track/4. 8L1+8E1B/25K – track!-threaded	488.0 μs	489.0 μs	0.999
track/4. 8L1+8E1B/25K – track-threaded	490.0 μs	490.0 μs	1.0
track/5. multi-signal N=1/5K – track	6.38 μs	6.43 μs	0.991
track/5. multi-signal N=1/5K – track!	6.35 μs	6.4 μs	0.992
track/6. multi-signal N=2/5K – track	10.7 μs	10.3 μs	1.04
track/6. multi-signal N=2/5K – track!	10.4 μs	10.4 μs	1.0
track/7. multi-signal N=3/5K – track	11.5 μs	11.6 μs	0.993
track/7. multi-signal N=3/5K – track!	11.6 μs	11.7 μs	0.996
track/8. L1CA presync 2 blk – track!	12.3 μs	12.4 μs	0.993
track/8. L1CA presync 20 blk – track!	120.0 μs	120.0 μs	0.999
track/8. L1CA synced 2 blk – track!	12.2 μs	12.3 μs	0.993
track/8. L1CA synced 20 blk – track!	118.0 μs	118.0 μs	0.999
time_to_load	543.0 μs	160.0 μs	3.4 ✅

Memory benchmarks (base vs PR head)

Ratio = 5f03cd2… / 8ee2ef8… (bytes allocated): >1 means the PR allocates less. ✅ ≥ 5 % less, ⚠️ ≥ 5 % more. ∞/0 mark a benchmark that drops to / picks up allocations, — means both revisions allocate nothing. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`5f03cd2`…	`8ee2ef8`…	`5f03cd2`… / `8ee2ef8`…
downconvert and correlate/CPU/Float32	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Float32 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Float64	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Int32	2 allocs: 576 B	2 allocs: 576 B	1.0
fused kernel/1-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/1-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
track/1. Float32/2K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/1. Float32/2K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track	10 allocs: 4656 B	10 allocs: 4656 B	1.0
track/2. L1 8sat/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track! Int16	13 allocs: 1056 B	13 allocs: 1056 B	1.0
track/2. L1 8sat/5K – track! OneBit	45 allocs: 2736 B	45 allocs: 2736 B	1.0
track/2. L1 8sat/5K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track-threaded	10 allocs: 4656 B	10 allocs: 4656 B	1.0
track/3. E1B 4sat/25K – track	10 allocs: 3056 B	10 allocs: 3056 B	1.0
track/3. E1B 4sat/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track! Int16	5 allocs: 416 B	5 allocs: 416 B	1.0
track/3. E1B 4sat/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track-threaded	10 allocs: 3056 B	10 allocs: 3056 B	1.0
track/4. 8L1+8E1B/25K – track	26 allocs: 10464 B	26 allocs: 10464 B	1.0
track/4. 8L1+8E1B/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track-threaded	26 allocs: 10464 B	26 allocs: 10464 B	1.0
track/5. multi-signal N=1/5K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/5. multi-signal N=1/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/6. multi-signal N=2/5K – track	9 allocs: 1408 B	9 allocs: 1408 B	1.0
track/6. multi-signal N=2/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/7. multi-signal N=3/5K – track	9 allocs: 1760 B	9 allocs: 1760 B	1.0
track/7. multi-signal N=3/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/8. L1CA presync 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA presync 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
time_to_load	196 allocs: 13984 B	196 allocs: 13984 B	1.0

A vector-tracking (VDFLL) estimator whose per-satellite loops are closed by an external navigation filter rather than per-satellite loop filters. Configuration-only; per-sat SatVectorPLLAndDLL state lives on TrackedSat and plugs into the shared per-sat update via _process_estimator_driver_signal. With vt_on unset a satellite runs the conventional FLL-assisted scalar PLL/DLL fallback. Once promoted (update_vt_states! / set_vt_on!), the navigation filter's NCO corrections close the loops: code Doppler follows code_freq_update directly, carrier_freq_update drives the carrier filter's FLL branch, and the DLL/FLL discriminators are accumulated for the filter to read (reset_code_discr_acc! / reset_carrier_discr_acc!). The state managers come in all-groups and group-scoped forms so PRNs can be disambiguated across constellations. Availability is the receiver's responsibility, not part of this state. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

github-actions · 2026-07-20T21:54:41Z

Benchmark Results (minimum time) — ubuntu-latest

Reporting the minimum over all samples (robust to shared-runner contention), not the median.

Alternative backends vs Float32 (`track!`, PR head)

Legend — backends: F32 Float32 (default) · I16 Int16 · 1b OneBit · 2b TwoBit (2-bit measurement + 2-bit carrier). Time columns are the minimum track! time; ×B = F32 / B (so >1 ⇒ backend B is faster than Float32), ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. 1b/2b are BPSK-only, so their cells are blank for CBOC (Galileo E1B) scenarios.

Scenario	F32	I16	1b	2b	×I16	×1b	×2b
4-antenna @ 5 MHz	11.4 μs	6.45 μs	4.81 μs	9.0 μs	1.77 ✅	2.38 ✅	1.27 ✅
GPS L1CA, 8 sats @ 40 MHz	339.0 μs	135.0 μs	65.4 μs	118.0 μs	2.51 ✅	5.17 ✅	2.87 ✅
GPS L1CA, 8 sats @ 5 MHz	50.3 μs	26.9 μs	17.8 μs	26.3 μs	1.87 ✅	2.82 ✅	1.92 ✅
Galileo E1B, 4 sats @ 25 MHz	125.0 μs	58.2 μs			2.15 ✅
dynamic taps @ 5 MHz (kernel)	6.26 μs	3.49 μs	1.78 μs	2.65 μs	1.79 ✅	3.51 ✅	2.36 ✅
multi-signal N=3 @ 5 MHz	10.2 μs	5.68 μs	4.47 μs	6.84 μs	1.8 ✅	2.28 ✅	1.49 ✅

Time benchmarks (base vs PR head)

Ratio = 5f03cd2… / 8ee2ef8…: >1 means the PR is faster. ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`5f03cd2`…	`8ee2ef8`…	`5f03cd2`… / `8ee2ef8`…
downconvert and correlate/CPU/Float32	2.36 μs	2.4 μs	0.986
downconvert and correlate/CPU/Float32 4ant	4.4 μs	4.43 μs	0.993
downconvert and correlate/CPU/Float64	2.93 μs	2.78 μs	1.06 ✅
downconvert and correlate/CPU/Int16	2.47 μs	2.51 μs	0.984
downconvert and correlate/CPU/Int16 4ant	4.93 μs	4.9 μs	1.0
downconvert and correlate/CPU/Int32	2.4 μs	2.42 μs	0.991
fused kernel/1-ant dynamic taps	2.29 μs	2.3 μs	0.998
fused kernel/1-ant static taps	1.91 μs	1.91 μs	1.0
fused kernel/4-ant dynamic taps	5.58 μs	5.67 μs	0.985
fused kernel/4-ant static taps	3.94 μs	3.87 μs	1.02
fused tuple kernel/1-ant N=2	2.58 μs	2.57 μs	1.01
fused tuple kernel/1-ant N=3	3.08 μs	3.08 μs	1.0
fused tuple kernel/2-ant N=2	3.93 μs	3.92 μs	1.0
fused tuple kernel/2-ant N=3	4.96 μs	4.96 μs	1.0
fused tuple kernel/4-ant N=2	6.45 μs	6.41 μs	1.01
fused tuple kernel/4-ant N=3	10.3 μs	10.2 μs	1.01
track/1. Float32/2K – track	2.62 μs	2.63 μs	0.998
track/1. Float32/2K – track!	2.64 μs	2.64 μs	0.999
track/2. L1 8sat/5K – track	48.6 μs	48.5 μs	1.0
track/2. L1 8sat/5K – track!	47.5 μs	47.2 μs	1.01
track/2. L1 8sat/5K – track! Int16	27.0 μs	27.0 μs	1.0
track/2. L1 8sat/5K – track! OneBit	18.1 μs	17.6 μs	1.03
track/2. L1 8sat/5K – track!-threaded	47.9 μs	47.5 μs	1.01
track/2. L1 8sat/5K – track-threaded	48.5 μs	48.2 μs	1.01
track/3. E1B 4sat/25K – track	121.0 μs	121.0 μs	1.0
track/3. E1B 4sat/25K – track!	121.0 μs	121.0 μs	0.996
track/3. E1B 4sat/25K – track! Int16	60.4 μs	58.7 μs	1.03
track/3. E1B 4sat/25K – track!-threaded	121.0 μs	121.0 μs	1.0
track/3. E1B 4sat/25K – track-threaded	121.0 μs	121.0 μs	0.999
track/4. 8L1+8E1B/25K – track	443.0 μs	445.0 μs	0.997
track/4. 8L1+8E1B/25K – track!	442.0 μs	441.0 μs	1.0
track/4. 8L1+8E1B/25K – track!-threaded	442.0 μs	439.0 μs	1.01
track/4. 8L1+8E1B/25K – track-threaded	443.0 μs	443.0 μs	1.0
track/5. multi-signal N=1/5K – track	6.21 μs	6.22 μs	0.998
track/5. multi-signal N=1/5K – track!	6.16 μs	6.26 μs	0.985
track/6. multi-signal N=2/5K – track	8.96 μs	9.03 μs	0.992
track/6. multi-signal N=2/5K – track!	9.14 μs	9.13 μs	1.0
track/7. multi-signal N=3/5K – track	11.4 μs	11.4 μs	1.0
track/7. multi-signal N=3/5K – track!	11.6 μs	11.7 μs	0.993
track/8. L1CA presync 2 blk – track!	11.7 μs	11.8 μs	0.993
track/8. L1CA presync 20 blk – track!	113.0 μs	113.0 μs	1.0
track/8. L1CA synced 2 blk – track!	11.7 μs	11.7 μs	0.996
track/8. L1CA synced 20 blk – track!	112.0 μs	111.0 μs	1.0
time_to_load	119.0 μs	119.0 μs	0.997

Memory benchmarks (base vs PR head)

Ratio = 5f03cd2… / 8ee2ef8… (bytes allocated): >1 means the PR allocates less. ✅ ≥ 5 % less, ⚠️ ≥ 5 % more. ∞/0 mark a benchmark that drops to / picks up allocations, — means both revisions allocate nothing. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`5f03cd2`…	`8ee2ef8`…	`5f03cd2`… / `8ee2ef8`…
downconvert and correlate/CPU/Float32	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Float32 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Float64	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Int32	2 allocs: 576 B	2 allocs: 576 B	1.0
fused kernel/1-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/1-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
track/1. Float32/2K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/1. Float32/2K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track	10 allocs: 4536 B	10 allocs: 4536 B	1.0
track/2. L1 8sat/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track! Int16	13 allocs: 1056 B	13 allocs: 1056 B	1.0
track/2. L1 8sat/5K – track! OneBit	45 allocs: 2736 B	45 allocs: 2736 B	1.0
track/2. L1 8sat/5K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track-threaded	10 allocs: 4536 B	10 allocs: 4536 B	1.0
track/3. E1B 4sat/25K – track	10 allocs: 2808 B	10 allocs: 2808 B	1.0
track/3. E1B 4sat/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track! Int16	5 allocs: 416 B	5 allocs: 416 B	1.0
track/3. E1B 4sat/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track-threaded	10 allocs: 2808 B	10 allocs: 2808 B	1.0
track/4. 8L1+8E1B/25K – track	26 allocs: 10352 B	26 allocs: 10352 B	1.0
track/4. 8L1+8E1B/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track-threaded	26 allocs: 10352 B	26 allocs: 10352 B	1.0
track/5. multi-signal N=1/5K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/5. multi-signal N=1/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/6. multi-signal N=2/5K – track	9 allocs: 1408 B	9 allocs: 1408 B	1.0
track/6. multi-signal N=2/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/7. multi-signal N=3/5K – track	9 allocs: 1760 B	9 allocs: 1760 B	1.0
track/7. multi-signal N=3/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/8. L1CA presync 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA presync 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
time_to_load	145 allocs: 11216 B	145 allocs: 11216 B	1.0

giove-a changed the title ~~Add VectorPLLAndDLL vector-tracking Doppler estimator~~ feat(track): add VectorPLLAndDLL vector-tracking Doppler estimator Jul 20, 2026

giove-a force-pushed the sc/vector-tracking branch from c49f7f2 to 8ee2ef8 Compare July 20, 2026 21:37

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feat(track): add VectorPLLAndDLL vector-tracking Doppler estimator#204

feat(track): add VectorPLLAndDLL vector-tracking Doppler estimator#204
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Summary

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Receiver-facing API

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Benchmark Results (minimum time) — macos-14

Alternative backends vs Float32 (track!, PR head)

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Benchmark Results (minimum time) — ubuntu-latest

Alternative backends vs Float32 (track!, PR head)

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giove-a commented Jul 20, 2026 •

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Alternative backends vs Float32 (`track!`, PR head)

Alternative backends vs Float32 (`track!`, PR head)