diff --git a/.clang-tidy b/.clang-tidy
index bfb1b252c..3515d6a2a 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -32,7 +32,6 @@ Checks: '-*,
         performance-inefficient-algorithm,
         performance-move-const-arg,
         performance-type-promotion-in-math-fn,
-        performance-unnecessary-copy-initialization,
         performance-unnecessary-value-param,
         readability-container-size-empty,
         readability-identifier-naming,
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 66ae4894a..e3a44189f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -295,6 +295,12 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
     set(OS_IS_MACOSX TRUE)
     execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
     string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
+    if(${DARWIN_VERSION} MATCHES "19")
+        set(MACOS_CATALINA TRUE)
+        set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
+        set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LIBRARY "libc++")
+        message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on macOS Catalina 10.15")
+    endif()
     if(${DARWIN_VERSION} MATCHES "18")
         set(MACOS_MOJAVE TRUE)
         set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
@@ -468,7 +474,7 @@ endif()
 
 
 ################################################################################
-# Set C and C++ standard
+# Set minimal C and C++ standards
 ################################################################################
 if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
     set(CMAKE_C_STANDARD 11)
@@ -484,7 +490,7 @@ else()
         endif()
     endif()
     if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        if(OS_IS_MACOSX)
+        if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
             if(CLANG_VERSION VERSION_LESS "600")
                 add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
             else()
@@ -623,132 +629,6 @@ set_package_properties(GNURADIO PROPERTIES
     PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones."
     TYPE REQUIRED
 )
-if(GNURADIO_VERSION)
-    if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
-        unset(GNURADIO_RUNTIME_FOUND)
-        message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
-    endif()
-endif()
-if(NOT GNURADIO_RUNTIME_FOUND)
-    message(STATUS "CMake cannot find GNU Radio >= ${GNSSSDR_GNURADIO_MIN_VERSION}")
-    if(OS_IS_LINUX)
-        message("Go to https://github.com/gnuradio/pybombs")
-        message("and follow the instructions to install GNU Radio in your system.")
-    endif()
-    if(OS_IS_MACOSX)
-        message("You can install it easily via Macports:")
-        message("  sudo port install gnuradio ")
-        message("Alternatively, you can use homebrew:")
-        message("  brew install gnuradio")
-    endif()
-    message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
-else()
-    if(NOT TARGET Gnuradio::runtime)
-        add_library(Gnuradio::runtime SHARED IMPORTED)
-        list(GET GNURADIO_RUNTIME_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_RUNTIME_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::runtime PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_RUNTIME_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_RUNTIME_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_RUNTIME_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_ANALOG_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-analog library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::analog)
-        add_library(Gnuradio::analog SHARED IMPORTED)
-        list(GET GNURADIO_ANALOG_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_ANALOG_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::analog PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_ANALOG_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_ANALOG_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_ANALOG_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_BLOCKS_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-blocks library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::blocks)
-        add_library(Gnuradio::blocks SHARED IMPORTED)
-        list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::blocks PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_BLOCKS_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_BLOCKS_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_BLOCKS_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_FILTER_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-filter library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::filter)
-        add_library(Gnuradio::filter SHARED IMPORTED)
-        list(GET GNURADIO_FILTER_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_FILTER_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::filter PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_FILTER_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FILTER_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_FILTER_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_FFT_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-fft library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::fft)
-        add_library(Gnuradio::fft SHARED IMPORTED)
-        list(GET GNURADIO_FFT_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_FFT_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::fft PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_FFT_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FFT_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_FFT_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_PMT_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-pmt library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::pmt)
-        add_library(Gnuradio::pmt SHARED IMPORTED)
-        list(GET GNURADIO_PMT_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_PMT_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::pmt PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_PMT_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_PMT_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_PMT_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(ENABLE_UHD AND UHD_FOUND AND GNURADIO_UHD_FOUND)
-    if(NOT TARGET Gnuradio::uhd)
-        add_library(Gnuradio::uhd SHARED IMPORTED)
-        list(GET GNURADIO_UHD_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_UHD_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::uhd PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_UHD_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_UHD_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_UHD_LIBRARIES}"
-        )
-    endif()
-endif()
 
 
 
@@ -769,7 +649,7 @@ endif()
 
 
 ################################################################################
-# Dectect availability of std::filesystem
+# Detect availability of std::filesystem and set C++ standard accordingly
 ################################################################################
 set(FILESYSTEM_FOUND FALSE)
 if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
@@ -787,7 +667,11 @@ if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
                 TYPE OPTIONAL
             )
             if(${FILESYSTEM_FOUND})
-                set(CMAKE_CXX_STANDARD 17)
+                if(CMAKE_VERSION VERSION_LESS 3.12)
+                    set(CMAKE_CXX_STANDARD 17)
+                else()
+                    set(CMAKE_CXX_STANDARD 20)
+                endif()
                 set(CMAKE_CXX_STANDARD_REQUIRED ON)
             endif()
         endif()
@@ -1231,37 +1115,30 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
         set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
         set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
     endif()
-
-    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
-"#!/bin/sh
-export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
-export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
-export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK} -lc++\"
-export CXXFLAGS=\"-stdlib=libc++\"
-export CC=clang
-export CXX=clang++
-cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
-aclocal
-automake --add-missing
-autoreconf -vfi
-cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
-        )
-    else()
-        file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
-"#!/bin/sh
-export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
-export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
-export LIBS=${GFLAGS_LIBRARIES_TO_LINK}
-cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
-aclocal
-automake --add-missing
-autoreconf -vfi
-cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
-        )
+    if(OS_IS_MACOSX)
+        set(GFLAGS_LIBRARIES_TO_LINK "${GFLAGS_LIBRARIES_TO_LINK} -lc++")
+        set(GLOG_EXPORT_CXX_LIBRARIES "export CXXFLAGS=\"-stdlib=libc++\"")
     endif()
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+        set(GLOG_EXPORT_C_COMPILER "export CC=clang")
+        set(GLOG_EXPORT_CXX_COMPILER "export CXX=clang++")
+    endif()
+
+    file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
+"#!/bin/sh
+export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
+export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
+export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK}\"
+${GLOG_EXPORT_CXX_LIBRARIES}
+${GLOG_EXPORT_C_COMPILER}
+${GLOG_EXPORT_CXX_COMPILER}
+cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
+aclocal
+automake --add-missing
+autoreconf -vfi
+cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
+${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
+    )
 
     file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
         DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
@@ -1460,6 +1337,9 @@ set_package_properties(Armadillo PROPERTIES
     TYPE REQUIRED
 )
 if(ARMADILLO_FOUND)
+    set_package_properties(Armadillo PROPERTIES
+        DESCRIPTION "C++ library for linear algebra and scientific computing (found: v${ARMADILLO_VERSION_STRING})"
+    )
     if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
         set(ARMADILLO_FOUND false)
         set(ENABLE_OWN_ARMADILLO true)
diff --git a/cmake/Modules/FindGFORTRAN.cmake b/cmake/Modules/FindGFORTRAN.cmake
index f19ccd77a..395639c9a 100644
--- a/cmake/Modules/FindGFORTRAN.cmake
+++ b/cmake/Modules/FindGFORTRAN.cmake
@@ -45,12 +45,37 @@ find_library(GFORTRAN NAMES gfortran
         /usr/lib/gcc/i686-redhat-linux/4.8.2
         /usr/lib/gcc/x86_64-redhat-linux/7
         /usr/lib/gcc/i686-redhat-linux/7
+        /usr/lib/gcc/x86_64-redhat-linux/8
+        /usr/lib/gcc/i686-redhat-linux/8
+        /usr/lib/gcc/x86_64-redhat-linux/9
+        /usr/lib/gcc/i686-redhat-linux/9
+        /usr/lib64/gcc/x86_64-redhat-linux/7
+        /usr/lib64/gcc/x86_64-redhat-linux/8
+        /usr/lib64/gcc/x86_64-redhat-linux/9
         /usr/lib/gcc/armv7hl-redhat-linux-gnueabi/7
         /usr/lib/gcc/aarch64-redhat-linux/7
         /usr/lib/gcc/i586-suse-linux/4.8  # OpenSUSE 13.1
         /usr/lib/gcc/i586-suse-linux/4.9
+        /usr/lib/gcc/i586-suse-linux/7
+        /usr/lib/gcc/i586-suse-linux/8
+        /usr/lib/gcc/i586-suse-linux/9
         /usr/lib/gcc/x86_64-suse-linux/4.8
         /usr/lib/gcc/x86_64-suse-linux/4.9
+        /usr/lib64/gcc/x86_64-suse-linux/7
+        /usr/lib64/gcc/x86_64-suse-linux/8
+        /usr/lib64/gcc/x86_64-suse-linux/9
+        /usr/lib/gcc/armv7hl-suse-linux-gnueabi/7
+        /usr/lib/gcc/armv7hl-suse-linux-gnueabi/8
+        /usr/lib/gcc/armv7hl-suse-linux-gnueabi/9
+        /usr/lib64/gcc/aarch64-suse-linux/7
+        /usr/lib64/gcc/aarch64-suse-linux/8
+        /usr/lib64/gcc/aarch64-suse-linux/9
+        /usr/lib64/gcc/powerpc64-suse-linux/7
+        /usr/lib64/gcc/powerpc64-suse-linux/8
+        /usr/lib64/gcc/powerpc64-suse-linux/9
+        /usr/lib64/gcc/powerpc64le-suse-linux/7
+        /usr/lib64/gcc/powerpc64le-suse-linux/8
+        /usr/lib64/gcc/powerpc64le-suse-linux/9
         /usr/lib/gcc/i486-linux-gnu # Debian 7
         /usr/lib/gcc/i486-linux-gnu/4.4
         /usr/lib/gcc/i486-linux-gnu/4.6
@@ -142,6 +167,24 @@ find_library(GFORTRAN NAMES gfortran
         /usr/lib/gcc/powerpc64le-linux-gnu/8
         /usr/lib/gcc/s390x-linux-gnu/8
         /usr/lib/gcc/alpha-linux-gnu/8
+        /usr/lib/gcc/x86_64-linux-gnu/9
+        /usr/lib/gcc/aarch64-linux-gnu/9
+        /usr/lib/gcc/arm-linux-gnueabi/9
+        /usr/lib/gcc/arm-linux-gnueabihf/9
+        /usr/lib/gcc/i686-linux-gnu/9
+        /usr/lib/gcc/powerpc64le-linux-gnu/9
+        /usr/lib/gcc/powerpc64-linux-gnu/9/
+        /usr/lib/gcc/s390x-linux-gnu/9
+        /usr/lib/gcc/alpha-linux-gnu/9
+        /usr/lib/gcc/hppa-linux-gnu/9
+        /usr/lib/gcc/m68k-linux-gnu/9
+        /usr/lib/gcc/mips-linux-gnu/9
+        /usr/lib/gcc/mips64el-linux-gnuabi64/9
+        /usr/lib/gcc/mipsel-linux-gnu/9
+        /usr/lib/gcc/riscv64-linux-gnu/9
+        /usr/lib/gcc/sh4-linux-gnu/9
+        /usr/lib/gcc/sparc64-linux-gnu/9
+        /usr/lib/gcc/x86_64-linux-gnux32/9
         ${GFORTRAN_ROOT}/lib
         $ENV{GFORTRAN_ROOT}/lib
 )
diff --git a/cmake/Modules/FindGNURADIO.cmake b/cmake/Modules/FindGNURADIO.cmake
index 37b106833..27777983c 100644
--- a/cmake/Modules/FindGNURADIO.cmake
+++ b/cmake/Modules/FindGNURADIO.cmake
@@ -143,6 +143,21 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
         set(GNURADIO_FOUND FALSE) # Trick for feature_summary
     endif()
 
+    # Create imported target
+    string(TOLOWER ${EXTVAR} gnuradio_component)
+    if(NOT TARGET Gnuradio::${gnuradio_component})
+        add_library(Gnuradio::${gnuradio_component} SHARED IMPORTED)
+        set(GNURADIO_LIBRARY ${GNURADIO_${EXTVAR}_LIBRARIES})
+        list(GET GNURADIO_LIBRARY 0 FIRST_DIR)
+        get_filename_component(GNURADIO_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::${gnuradio_component} PROPERTIES
+            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+            IMPORTED_LOCATION "${GNURADIO_DIR}"
+            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_${EXTVAR}_INCLUDE_DIRS}"
+            INTERFACE_LINK_LIBRARIES "${GNURADIO_LIBRARY}"
+        )
+    endif()
+
     mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
 endfunction()
 
@@ -218,3 +233,25 @@ if(NOT DEFINED GNURADIO_FOUND)
     set(GNURADIO_FOUND TRUE)
 endif()
 set(GNURADIO_VERSION ${PC_GNURADIO_RUNTIME_VERSION})
+
+if(NOT GNSSSDR_GNURADIO_MIN_VERSION)
+    set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
+endif()
+
+if(GNURADIO_VERSION)
+    if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
+        unset(GNURADIO_RUNTIME_FOUND)
+        message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
+        if(OS_IS_LINUX)
+            message("Go to https://github.com/gnuradio/pybombs")
+            message("and follow the instructions to install GNU Radio in your system.")
+        endif()
+        if(OS_IS_MACOSX)
+            message("You can install it easily via Macports:")
+            message("  sudo port install gnuradio ")
+            message("Alternatively, you can use homebrew:")
+            message("  brew install gnuradio")
+        endif()
+        message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
+    endif()
+endif()
diff --git a/docs/changelog b/docs/changelog
index 5cfa4faee..25156e270 100644
--- a/docs/changelog
+++ b/docs/changelog
@@ -16,7 +16,7 @@
 
 - Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel).
 - Shortened Acquisition to Tracking transition time.
-- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-copy-initialization, performance-unnecessary-value-param, readability-string-compare.
+- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare.
 
 
 ### Improvements in Flexibility:
@@ -50,7 +50,8 @@
 - Added interfaces for FPGA off-loading.
 - CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12.
 - Improvements for macOS users using Homebrew.
-- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17.
+- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher.
+- CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions.
 
 
 ### Improvements in Reliability
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
index 8d515f584..4dc040d43 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
@@ -95,7 +95,11 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
             set(CMAKE_CXX_STANDARD 14)
         else()
             if(${FILESYSTEM_FOUND})
-                set(CMAKE_CXX_STANDARD 17)
+                if(CMAKE_VERSION VERSION_LESS 3.12)
+                    set(CMAKE_CXX_STANDARD 17)
+                else()
+                    set(CMAKE_CXX_STANDARD 20)
+                endif()
                 set(CMAKE_CXX_STANDARD_REQUIRED ON)
             else()
                 set(CMAKE_CXX_STANDARD 14)
@@ -134,7 +138,11 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
                 set(CMAKE_CXX_STANDARD 14)
             else()
                 if(${FILESYSTEM_FOUND})
-                    set(CMAKE_CXX_STANDARD 17)
+                    if(CMAKE_VERSION VERSION_LESS 3.12)
+                        set(CMAKE_CXX_STANDARD 17)
+                    else()
+                        set(CMAKE_CXX_STANDARD 20)
+                    endif()
                     set(CMAKE_CXX_STANDARD_REQUIRED ON)
                 else()
                     set(CMAKE_CXX_STANDARD 14)
diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index fb816d0d8..e8bfb8d26 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -33,7 +33,6 @@ set(TRACKING_LIB_SOURCES
     cpu_multicorrelator.cc
     cpu_multicorrelator_real_codes.cc
     cpu_multicorrelator_16sc.cc
-    cubature_filter.cc
     lock_detectors.cc
     tcp_communication.cc
     tcp_packet_data.cc
@@ -51,7 +50,6 @@ set(TRACKING_LIB_HEADERS
     cpu_multicorrelator.h
     cpu_multicorrelator_real_codes.h
     cpu_multicorrelator_16sc.h
-    cubature_filter.h
     lock_detectors.h
     tcp_communication.h
     tcp_packet_data.h
@@ -65,6 +63,12 @@ set(TRACKING_LIB_HEADERS
     exponential_smoother.h
 )
 
+if(ARMADILLO_VERSION_STRING VERSION_GREATER 7.400)
+    # sqrtmat_sympd() requires 7.400
+    set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} nonlinear_tracking.cc)
+    set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} nonlinear_tracking.h)
+endif()
+
 if(ENABLE_FPGA)
     set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
     set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
@@ -84,6 +88,7 @@ target_link_libraries(tracking_libs
         Gnuradio::runtime
         Volkgnsssdr::volkgnsssdr
         core_system_parameters
+        algorithms_libs
         ${OPT_TRACKING_LIBRARIES}
     PRIVATE
         Gflags::gflags
diff --git a/src/algorithms/tracking/libs/cubature_filter.cc b/src/algorithms/tracking/libs/cubature_filter.cc
deleted file mode 100644
index cd7e3bb83..000000000
--- a/src/algorithms/tracking/libs/cubature_filter.cc
+++ /dev/null
@@ -1,199 +0,0 @@
-/*!
- * \file cubature_filter.cc
- * \brief Interface of a library with Bayesian noise statistic estimation
- *
- * Cubature_Filter implements the functionality of the Cubature Kalman
- * Filter, which uses multidimensional cubature rules to estimate the
- * time evolution of a nonlinear system.
- *
- * [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
- * Transactions on Automatic Control, 54(6):1254–1269,2009.
- *
- * \authors <ul>
- *          <li> Gerald LaMountain, 2019. gerald(at)ece.neu.edu
- *          <li> Jordi Vila-Valls 2019. jvila(at)cttc.es
- *          </ul>
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2019  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "cubature_filter.h"
-
-
-Cubature_filter::Cubature_filter()
-{
-    int nx = 1;
-    x_pred_out = arma::zeros(nx, 1);
-    P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
-
-    x_est = x_pred_out;
-    P_x_est = P_x_pred_out;
-}
-
-
-Cubature_filter::Cubature_filter(int nx)
-{
-    x_pred_out = arma::zeros(nx, 1);
-    P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
-
-    x_est = x_pred_out;
-    P_x_est = P_x_pred_out;
-}
-
-
-Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
-{
-    x_pred_out = x_pred_0;
-    P_x_pred_out = P_x_pred_0;
-
-    x_est = x_pred_out;
-    P_x_est = P_x_pred_out;
-}
-
-
-Cubature_filter::~Cubature_filter() = default;
-
-
-void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
-{
-    x_pred_out = x_pred_0;
-    P_x_pred_out = P_x_pred_0;
-
-    x_est = x_pred_out;
-    P_x_est = P_x_pred_out;
-}
-
-
-/*
- * Perform the prediction step of the cubature Kalman filter
- */
-void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
-{
-    // Compute number of cubature points
-    int nx = x_post.n_elem;
-    int np = 2 * nx;
-
-    // Generator Matrix
-    arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
-
-    // Initialize predicted mean and covariance
-    arma::vec x_pred = arma::zeros(nx, 1);
-    arma::mat P_x_pred = arma::zeros(nx, nx);
-
-    // Factorize posterior covariance
-    arma::mat Sm_post = arma::chol(P_x_post, "lower");
-
-    // Propagate and evaluate cubature points
-    arma::vec Xi_post;
-    arma::vec Xi_pred;
-
-    for (uint8_t i = 0; i < np; i++)
-        {
-            Xi_post = Sm_post * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_post;
-            Xi_pred = (*transition_fcn)(Xi_post);
-
-            x_pred = x_pred + Xi_pred;
-            P_x_pred = P_x_pred + Xi_pred * Xi_pred.t();
-        }
-
-    // Estimate predicted state and error covariance
-    x_pred = x_pred / static_cast<float>(np);
-    P_x_pred = P_x_pred / static_cast<float>(np) - x_pred * x_pred.t() + noise_covariance;
-
-    // Store predicted state and error covariance
-    x_pred_out = x_pred;
-    P_x_pred_out = P_x_pred;
-}
-
-
-/*
- * Perform the update step of the cubature Kalman filter
- */
-void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
-{
-    // Compute number of cubature points
-    int nx = x_pred.n_elem;
-    int nz = z_upd.n_elem;
-    int np = 2 * nx;
-
-    // Generator Matrix
-    arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
-
-    // Evaluate predicted measurement and covariances
-    arma::mat z_pred = arma::zeros(nz, 1);
-    arma::mat P_zz_pred = arma::zeros(nz, nz);
-    arma::mat P_xz_pred = arma::zeros(nx, nz);
-
-    // Factorize predicted covariance
-    arma::mat Sm_pred = arma::chol(P_x_pred, "lower");
-
-    // Propagate and evaluate cubature points
-    arma::vec Xi_pred;
-    arma::vec Zi_pred;
-    for (uint8_t i = 0; i < np; i++)
-        {
-            Xi_pred = Sm_pred * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_pred;
-            Zi_pred = (*measurement_fcn)(Xi_pred);
-
-            z_pred = z_pred + Zi_pred;
-            P_zz_pred = P_zz_pred + Zi_pred * Zi_pred.t();
-            P_xz_pred = P_xz_pred + Xi_pred * Zi_pred.t();
-        }
-
-    // Estimate measurement covariance and cross covariances
-    z_pred = z_pred / static_cast<float>(np);
-    P_zz_pred = P_zz_pred / static_cast<float>(np) - z_pred * z_pred.t() + noise_covariance;
-    P_xz_pred = P_xz_pred / static_cast<float>(np) - x_pred * z_pred.t();
-
-    // Estimate cubature Kalman gain
-    arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
-
-    // Estimate and store the updated state and error covariance
-    x_est = x_pred + W_k * (z_upd - z_pred);
-    P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
-}
-
-
-arma::mat Cubature_filter::get_x_pred() const
-{
-    return x_pred_out;
-}
-
-
-arma::mat Cubature_filter::get_P_x_pred() const
-{
-    return P_x_pred_out;
-}
-
-
-arma::mat Cubature_filter::get_x_est() const
-{
-    return x_est;
-}
-
-
-arma::mat Cubature_filter::get_P_x_est() const
-{
-    return P_x_est;
-}
diff --git a/src/algorithms/tracking/libs/nonlinear_tracking.cc b/src/algorithms/tracking/libs/nonlinear_tracking.cc
new file mode 100644
index 000000000..99d637f06
--- /dev/null
+++ b/src/algorithms/tracking/libs/nonlinear_tracking.cc
@@ -0,0 +1,390 @@
+/*!
+ * \file cubature_filter.cc
+ * \brief Interface of a library for nonlinear tracking algorithms
+ *
+ * Cubature_Filter implements the functionality of the Cubature Kalman
+ * Filter, which uses multidimensional cubature rules to estimate the
+ * time evolution of a nonlinear system. Unscented_filter implements
+ * an Unscented Kalman Filter which uses Unscented Transform rules to
+ * perform a similar estimation.
+ *
+ * [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
+ * Transactions on Automatic Control, 54(6):1254–1269,2009.
+ *
+ * \authors <ul>
+ *          <li> Gerald LaMountain, 2019. gerald(at)ece.neu.edu
+ *          <li> Jordi Vila-Valls 2019. jvila(at)cttc.es
+ *          </ul>
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2019  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "nonlinear_tracking.h"
+
+/***************** CUBATURE KALMAN FILTER *****************/
+
+Cubature_filter::Cubature_filter()
+{
+    int nx = 1;
+    x_pred_out = arma::zeros(nx, 1);
+    P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+Cubature_filter::Cubature_filter(int nx)
+{
+    x_pred_out = arma::zeros(nx, 1);
+    P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
+{
+    x_pred_out = x_pred_0;
+    P_x_pred_out = P_x_pred_0;
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+Cubature_filter::~Cubature_filter() = default;
+
+
+void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
+{
+    x_pred_out = x_pred_0;
+    P_x_pred_out = P_x_pred_0;
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+/*
+ * Perform the prediction step of the cubature Kalman filter
+ */
+void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
+{
+    // Compute number of cubature points
+    int nx = x_post.n_elem;
+    int np = 2 * nx;
+
+    // Generator Matrix
+    arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
+
+    // Initialize predicted mean and covariance
+    arma::vec x_pred = arma::zeros(nx, 1);
+    arma::mat P_x_pred = arma::zeros(nx, nx);
+
+    // Factorize posterior covariance
+    arma::mat Sm_post = arma::chol(P_x_post, "lower");
+
+    // Propagate and evaluate cubature points
+    arma::vec Xi_post;
+    arma::vec Xi_pred;
+
+    for (uint8_t i = 0; i < np; i++)
+        {
+            Xi_post = Sm_post * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_post;
+            Xi_pred = (*transition_fcn)(Xi_post);
+
+            x_pred = x_pred + Xi_pred;
+            P_x_pred = P_x_pred + Xi_pred * Xi_pred.t();
+        }
+
+    // Compute predicted mean and error covariance
+    x_pred = x_pred / static_cast<float>(np);
+    P_x_pred = P_x_pred / static_cast<float>(np) - x_pred * x_pred.t() + noise_covariance;
+
+    // Store predicted mean and error covariance
+    x_pred_out = x_pred;
+    P_x_pred_out = P_x_pred;
+}
+
+
+/*
+ * Perform the update step of the cubature Kalman filter
+ */
+void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
+{
+    // Compute number of cubature points
+    int nx = x_pred.n_elem;
+    int nz = z_upd.n_elem;
+    int np = 2 * nx;
+
+    // Generator Matrix
+    arma::mat gen_one = arma::join_horiz(arma::eye(nx, nx), -1.0 * arma::eye(nx, nx));
+
+    // Initialize estimated predicted measurement and covariances
+    arma::mat z_pred = arma::zeros(nz, 1);
+    arma::mat P_zz_pred = arma::zeros(nz, nz);
+    arma::mat P_xz_pred = arma::zeros(nx, nz);
+
+    // Factorize predicted covariance
+    arma::mat Sm_pred = arma::chol(P_x_pred, "lower");
+
+    // Propagate and evaluate cubature points
+    arma::vec Xi_pred;
+    arma::vec Zi_pred;
+    for (uint8_t i = 0; i < np; i++)
+        {
+            Xi_pred = Sm_pred * (std::sqrt(static_cast<float>(np) / 2.0) * gen_one.col(i)) + x_pred;
+            Zi_pred = (*measurement_fcn)(Xi_pred);
+
+            z_pred = z_pred + Zi_pred;
+            P_zz_pred = P_zz_pred + Zi_pred * Zi_pred.t();
+            P_xz_pred = P_xz_pred + Xi_pred * Zi_pred.t();
+        }
+
+    // Compute measurement mean, covariance and cross covariance
+    z_pred = z_pred / static_cast<float>(np);
+    P_zz_pred = P_zz_pred / static_cast<float>(np) - z_pred * z_pred.t() + noise_covariance;
+    P_xz_pred = P_xz_pred / static_cast<float>(np) - x_pred * z_pred.t();
+
+    // Compute cubature Kalman gain
+    arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
+
+    // Compute and store the updated mean and error covariance
+    x_est = x_pred + W_k * (z_upd - z_pred);
+    P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
+}
+
+
+arma::mat Cubature_filter::get_x_pred() const
+{
+    return x_pred_out;
+}
+
+
+arma::mat Cubature_filter::get_P_x_pred() const
+{
+    return P_x_pred_out;
+}
+
+
+arma::mat Cubature_filter::get_x_est() const
+{
+    return x_est;
+}
+
+
+arma::mat Cubature_filter::get_P_x_est() const
+{
+    return P_x_est;
+}
+/***************** END CUBATURE KALMAN FILTER *****************/
+
+
+/***************** UNSCENTED KALMAN FILTER *****************/
+
+Unscented_filter::Unscented_filter()
+{
+    int nx = 1;
+    x_pred_out = arma::zeros(nx, 1);
+    P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+Unscented_filter::Unscented_filter(int nx)
+{
+    x_pred_out = arma::zeros(nx, 1);
+    P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+Unscented_filter::Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
+{
+    x_pred_out = x_pred_0;
+    P_x_pred_out = P_x_pred_0;
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+Unscented_filter::~Unscented_filter() = default;
+
+
+void Unscented_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
+{
+    x_pred_out = x_pred_0;
+    P_x_pred_out = P_x_pred_0;
+
+    x_est = x_pred_out;
+    P_x_est = P_x_pred_out;
+}
+
+
+/*
+ * Perform the prediction step of the Unscented Kalman filter
+ */
+void Unscented_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
+{
+    // Compute number of sigma points
+    int nx = x_post.n_elem;
+    int np = 2 * nx + 1;
+
+    float alpha = 0.001;
+    float kappa = 0.0;
+    float beta = 2.0;
+
+    float lambda = std::pow(alpha, 2.0) * (static_cast<float>(nx) + kappa) - static_cast<float>(nx);
+
+    // Compute UT Weights
+    float W0_m = lambda / (static_cast<float>(nx) + lambda);
+    float W0_c = lambda / (static_cast<float>(nx) + lambda) + (1 - std::pow(alpha, 2.0) + beta);
+    float Wi_m = 1.0 / (2.0 * (static_cast<float>(nx) + lambda));
+
+    // Propagate and evaluate sigma points
+    arma::mat Xi_fact = arma::zeros(nx, nx);
+    arma::mat Xi_post = arma::zeros(nx, np);
+    arma::mat Xi_pred = arma::zeros(nx, np);
+
+
+    Xi_post.col(0) = x_post;
+    Xi_pred.col(0) = (*transition_fcn)(Xi_post.col(0));
+    for (uint8_t i = 1; i <= nx; i++)
+        {
+            Xi_fact = std::sqrt(static_cast<float>(nx) + lambda) * arma::sqrtmat_sympd(P_x_post);
+            Xi_post.col(i) = x_post + Xi_fact.col(i - 1);
+            Xi_post.col(i + nx) = x_post - Xi_fact.col(i - 1);
+
+            Xi_pred.col(i) = (*transition_fcn)(Xi_post.col(i));
+            Xi_pred.col(i + nx) = (*transition_fcn)(Xi_post.col(i + nx));
+        }
+
+    // Compute predicted mean
+    arma::vec x_pred = W0_m * Xi_pred.col(0) + Wi_m * arma::sum(Xi_pred.cols(1, np - 1), 1);
+
+    // Compute predicted error covariance
+    arma::mat P_x_pred = W0_c * ((Xi_pred.col(0) - x_pred) * (Xi_pred.col(0).t() - x_pred.t()));
+    for (uint8_t i = 1; i < np; i++)
+        {
+            P_x_pred = P_x_pred + Wi_m * ((Xi_pred.col(i) - x_pred) * (Xi_pred.col(i).t() - x_pred.t()));
+        }
+    P_x_pred = P_x_pred + noise_covariance;
+
+    // Store predicted mean and error covariance
+    x_pred_out = x_pred;
+    P_x_pred_out = P_x_pred;
+}
+
+
+/*
+ * Perform the update step of the Unscented Kalman filter
+ */
+void Unscented_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
+{
+    // Compute number of sigma points
+    int nx = x_pred.n_elem;
+    int nz = z_upd.n_elem;
+    int np = 2 * nx + 1;
+
+    float alpha = 0.001;
+    float kappa = 0.0;
+    float beta = 2.0;
+
+    float lambda = std::pow(alpha, 2.0) * (static_cast<float>(nx) + kappa) - static_cast<float>(nx);
+
+    // Compute UT Weights
+    float W0_m = lambda / (static_cast<float>(nx) + lambda);
+    float W0_c = lambda / (static_cast<float>(nx) + lambda) + (1.0 - std::pow(alpha, 2.0) + beta);
+    float Wi_m = 1.0 / (2.0 * (static_cast<float>(nx) + lambda));
+
+    // Propagate and evaluate sigma points
+    arma::mat Xi_fact = arma::zeros(nx, nx);
+    arma::mat Xi_pred = arma::zeros(nx, np);
+    arma::mat Zi_pred = arma::zeros(nz, np);
+
+    Xi_pred.col(0) = x_pred;
+    Zi_pred.col(0) = (*measurement_fcn)(Xi_pred.col(0));
+    for (uint8_t i = 1; i <= nx; i++)
+        {
+            Xi_fact = std::sqrt(static_cast<float>(nx) + lambda) * arma::sqrtmat_sympd(P_x_pred);
+            Xi_pred.col(i) = x_pred + Xi_fact.col(i - 1);
+            Xi_pred.col(i + nx) = x_pred - Xi_fact.col(i - 1);
+
+            Zi_pred.col(i) = (*measurement_fcn)(Xi_pred.col(i));
+            Zi_pred.col(i + nx) = (*measurement_fcn)(Xi_pred.col(i + nx));
+        }
+
+    // Compute measurement mean
+    arma::mat z_pred = W0_m * Zi_pred.col(0) + Wi_m * arma::sum(Zi_pred.cols(1, np - 1), 1);
+
+    // Compute measurement covariance and cross covariance
+    arma::mat P_zz_pred = W0_c * ((Zi_pred.col(0) - z_pred) * (Zi_pred.col(0).t() - z_pred.t()));
+    arma::mat P_xz_pred = W0_c * ((Xi_pred.col(0) - x_pred) * (Zi_pred.col(0).t() - z_pred.t()));
+    for (uint8_t i = 0; i < np; i++)
+        {
+            P_zz_pred = P_zz_pred + Wi_m * ((Zi_pred.col(i) - z_pred) * (Zi_pred.col(i).t() - z_pred.t()));
+            P_xz_pred = P_xz_pred + Wi_m * ((Xi_pred.col(i) - x_pred) * (Zi_pred.col(i).t() - z_pred.t()));
+        }
+    P_zz_pred = P_zz_pred + noise_covariance;
+
+    // Estimate cubature Kalman gain
+    arma::mat W_k = P_xz_pred * arma::inv(P_zz_pred);
+
+    // Estimate and store the updated mean and error covariance
+    x_est = x_pred + W_k * (z_upd - z_pred);
+    P_x_est = P_x_pred - W_k * P_zz_pred * W_k.t();
+}
+
+
+arma::mat Unscented_filter::get_x_pred() const
+{
+    return x_pred_out;
+}
+
+
+arma::mat Unscented_filter::get_P_x_pred() const
+{
+    return P_x_pred_out;
+}
+
+
+arma::mat Unscented_filter::get_x_est() const
+{
+    return x_est;
+}
+
+
+arma::mat Unscented_filter::get_P_x_est() const
+{
+    return P_x_est;
+}
+
+/***************** END UNSCENTED KALMAN FILTER *****************/
diff --git a/src/algorithms/tracking/libs/cubature_filter.h b/src/algorithms/tracking/libs/nonlinear_tracking.h
similarity index 63%
rename from src/algorithms/tracking/libs/cubature_filter.h
rename to src/algorithms/tracking/libs/nonlinear_tracking.h
index 87f45bcdd..fdba4fec3 100644
--- a/src/algorithms/tracking/libs/cubature_filter.h
+++ b/src/algorithms/tracking/libs/nonlinear_tracking.h
@@ -1,10 +1,12 @@
 /*!
- * \file cubature_filter.h
- * \brief Interface of a library with Bayesian noise statistic estimation
+ * \file nonlinear_tracking.h
+ * \brief Interface of a library for nonlinear tracking algorithms
  *
  * Cubature_Filter implements the functionality of the Cubature Kalman
  * Filter, which uses multidimensional cubature rules to estimate the
- * time evolution of a nonlinear system.
+ * time evolution of a nonlinear system. Unscented_filter implements
+ * an Unscented Kalman Filter which uses Unscented Transform rules to
+ * perform a similar estimation.
  *
  * [1] I Arasaratnam and S Haykin. Cubature kalman filters. IEEE
  * Transactions on Automatic Control, 54(6):1254–1269,2009.
@@ -38,18 +40,19 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_CUBATURE_FILTER_H_
-#define GNSS_SDR_CUBATURE_FILTER_H_
+#ifndef GNSS_SDR_NONLINEAR_TRACKING_H_
+#define GNSS_SDR_NONLINEAR_TRACKING_H_
 
 #include <armadillo>
 #include <gnuradio/gr_complex.h>
 
 // Abstract model function
-class Model_Function{
-    public:
-        Model_Function() {};
-        virtual arma::vec operator() (arma::vec input) = 0;
-        virtual ~Model_Function() = default;
+class Model_Function
+{
+public:
+    Model_Function(){};
+    virtual arma::vec operator()(arma::vec input) = 0;
+    virtual ~Model_Function() = default;
 };
 
 class Cubature_filter
@@ -81,4 +84,33 @@ private:
     arma::mat P_x_est;
 };
 
+class Unscented_filter
+{
+public:
+    // Constructors and destructors
+    Unscented_filter();
+    Unscented_filter(int nx);
+    Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
+    ~Unscented_filter();
+
+    // Reinitialization function
+    void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
+
+    // Prediction and estimation
+    void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
+    void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
+
+    // Getters
+    arma::mat get_x_pred() const;
+    arma::mat get_P_x_pred() const;
+    arma::mat get_x_est() const;
+    arma::mat get_P_x_est() const;
+
+private:
+    arma::vec x_pred_out;
+    arma::mat P_x_pred_out;
+    arma::vec x_est;
+    arma::mat P_x_est;
+};
+
 #endif
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 8eb57397e..12f65f0fd 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -161,6 +161,11 @@ if(ENABLE_FPGA)
     add_definitions(-DFPGA_BLOCKS_TEST=1)
 endif()
 
+if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
+    # mvnrnd() requires 8.400
+    add_definitions(-DARMADILLO_HAVE_MVNRND=1)
+endif()
+
 find_package(Gnuplot)
 if(GNUPLOT_FOUND)
     add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")
@@ -793,13 +798,20 @@ endif()
 
 #########################################################
 if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
+    set(NONLINEAR_SOURCES "")
+    if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
+        set(NONLINEAR_SOURCES
+            ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+            ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
+        )
+    endif()
     add_executable(trk_test
         ${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc
-        ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+        ${NONLINEAR_SOURCES}
     )
     if(${FILESYSTEM_FOUND})
         target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM=1)
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index d22149fee..e20338cfa 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -99,7 +99,10 @@ DECLARE_string(log_dir);
 #endif
 
 #include "unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc"
+#if ARMADILLO_HAVE_MVNRND
 #include "unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc"
+#endif
 #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
index 948e5cc69..ec61ea47d 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
@@ -28,12 +28,13 @@
  * -------------------------------------------------------------------------
  */
 
-#include "cubature_filter.h"
+#include "nonlinear_tracking.h"
 #include <armadillo>
 #include <gtest/gtest.h>
 #include <random>
 
 #define CUBATURE_TEST_N_TRIALS 1000
+#define CUBATURE_TEST_TOLERANCE 0.01
 
 class Transition_Model : public Model_Function
 {
@@ -127,8 +128,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
             kf_x_pre = kf_F * kf_x_post;
             kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
 
-            EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", 0.01));
-            EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", 0.01));
+            EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
+            EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
 
             // Update Step
             kf_H = arma::randu<arma::mat>(ny, nx);
@@ -151,8 +152,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
             kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
             kf_P_x_post = (arma::eye(nx, nx) - kf_K * kf_H) * kf_P_x_pre;
 
-            EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", 0.01));
-            EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", 0.01));
+            EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
+            EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
 
             delete transition_function;
             delete measurement_function;
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
new file mode 100644
index 000000000..d68a76ea6
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
@@ -0,0 +1,161 @@
+/*!
+ * \file unscented_filter_test.cc
+ * \brief  This file implements numerical accuracy test for the CKF library.
+ * \author Gerald LaMountain, 2019. gerald(at)ece.neu.edu
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2019  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "nonlinear_tracking.h"
+#include <armadillo>
+#include <gtest/gtest.h>
+#include <random>
+
+#define UNSCENTED_TEST_N_TRIALS 10
+#define UNSCENTED_TEST_TOLERANCE 10
+
+class Transition_Model_UKF : public Model_Function
+{
+public:
+    Transition_Model_UKF(arma::mat kf_F) { coeff_mat = kf_F; };
+    virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
+
+private:
+    arma::mat coeff_mat;
+};
+
+class Measurement_Model_UKF : public Model_Function
+{
+public:
+    Measurement_Model_UKF(arma::mat kf_H) { coeff_mat = kf_H; };
+    virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
+
+private:
+    arma::mat coeff_mat;
+};
+
+TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
+{
+    Unscented_filter kf_unscented;
+
+    arma::vec kf_x;
+    arma::mat kf_P_x;
+
+    arma::vec kf_x_pre;
+    arma::mat kf_P_x_pre;
+
+    arma::vec ukf_x_pre;
+    arma::mat ukf_P_x_pre;
+
+    arma::vec kf_x_post;
+    arma::mat kf_P_x_post;
+
+    arma::vec ukf_x_post;
+    arma::mat ukf_P_x_post;
+
+    arma::mat kf_F;
+    arma::mat kf_H;
+
+    arma::mat kf_Q;
+    arma::mat kf_R;
+
+    arma::vec eta;
+    arma::vec nu;
+
+    arma::vec kf_y;
+    arma::mat kf_P_y;
+    arma::mat kf_K;
+
+    Model_Function* transition_function;
+    Model_Function* measurement_function;
+
+    //--- Perform initializations ------------------------------
+
+    std::random_device r;
+    std::default_random_engine e1(r());
+    std::normal_distribution<float> normal_dist(0, 5);
+    std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
+
+    uint8_t nx = 0;
+    uint8_t ny = 0;
+
+    for (uint16_t k = 0; k < UNSCENTED_TEST_N_TRIALS; k++)
+        {
+            nx = std::rand() % 5 + 1;
+            ny = std::rand() % 5 + 1;
+
+            kf_x = arma::randn<arma::vec>(nx, 1);
+
+            kf_P_x_post = 5.0 * arma::diagmat(arma::randu<arma::vec>(nx, 1));
+            kf_x_post = arma::mvnrnd(kf_x, kf_P_x_post);
+
+            kf_unscented.initialize(kf_x_post, kf_P_x_post);
+
+            // Prediction Step
+            kf_F = arma::randu<arma::mat>(nx, nx);
+            kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
+
+            transition_function = new Transition_Model_UKF(kf_F);
+            arma::mat ttx = (*transition_function)(kf_x_post);
+
+            kf_unscented.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
+
+            ukf_x_pre = kf_unscented.get_x_pred();
+            ukf_P_x_pre = kf_unscented.get_P_x_pred();
+
+            kf_x_pre = kf_F * kf_x_post;
+            kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
+
+            EXPECT_TRUE(arma::approx_equal(ukf_x_pre, kf_x_pre, "absdiff", UNSCENTED_TEST_TOLERANCE));
+            EXPECT_TRUE(arma::approx_equal(ukf_P_x_pre, kf_P_x_pre, "absdiff", UNSCENTED_TEST_TOLERANCE));
+
+            // Update Step
+            kf_H = arma::randu<arma::mat>(ny, nx);
+            kf_R = arma::diagmat(arma::randu<arma::vec>(ny, 1));
+
+            eta = arma::mvnrnd(arma::zeros<arma::vec>(nx, 1), kf_Q);
+            nu = arma::mvnrnd(arma::zeros<arma::vec>(ny, 1), kf_R);
+
+            kf_y = kf_H * (kf_F * kf_x + eta) + nu;
+
+            measurement_function = new Measurement_Model_UKF(kf_H);
+            kf_unscented.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
+
+            ukf_x_post = kf_unscented.get_x_est();
+            ukf_P_x_post = kf_unscented.get_P_x_est();
+
+            kf_P_y = kf_H * kf_P_x_pre * kf_H.t() + kf_R;
+            kf_K = (kf_P_x_pre * kf_H.t()) * arma::inv(kf_P_y);
+
+            kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
+            kf_P_x_post = (arma::eye(nx, nx) - kf_K * kf_H) * kf_P_x_pre;
+
+            EXPECT_TRUE(arma::approx_equal(ukf_x_post, kf_x_post, "absdiff", UNSCENTED_TEST_TOLERANCE));
+            EXPECT_TRUE(arma::approx_equal(ukf_P_x_post, kf_P_x_post, "absdiff", UNSCENTED_TEST_TOLERANCE));
+
+            delete transition_function;
+            delete measurement_function;
+        }
+}