Accurate positioning with low-cost global navigation satellite system (GNSS)/ global positioning system (GPS) devices currently plays an important role in our daily lives. Examples include navigation for pedestrians via smartphones (Lachapelle & Gratton, 2019;Luo et al., 2019c;Ng et al., 2021) and wearable sensors (Faragher et al., 2018(Faragher et al., , 2019 and autonomous ground vehicles (Humphreys et al., 2020). These applications depend on low-cost antennas and hardware. There will be significant demand for consumer-level GNSS receivers in the next ten years (EUSPA EO and GNSS Market Report, 2022). GNSS signals are confronted with frequent interruptions and reflections in challenging environments. Thus, incoming GNSS signals are often weak and dynamic, which causes the traditional GNSS baseband architecture to be very fragile (Luo et al., 2018b;Ren & Petovello, 2017;Yan et al., 2017).