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 _    _    _    _               _____    __   __  
| || | || | || | ||     ___    |  ___||  \ \\/ // 
| || | || | || | ||    /   ||  | ||__     \   //  
| \\_/ || | \\_/ ||   | [] ||  | ||__     / . \\  
 \____//   \____//     \__ ||  |_____||  /_//\_\\ 
  `---`     `---`       -|_||  `-----`   `-`  --` 
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Text this: Differential Kalman filter design for GNSS open loop tracking