diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index e1fb1f44b..ba6a7c0e9 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -129,7 +129,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
       d_code_phase_step_chips(0.0),
       d_carrier_doppler_hz(0.0),
       d_carrier_frequency_hz(0.0),
-      d_carrier_doppler_old_hz(0.0),
+      d_carrier_frequency_old_hz(0.0),
       d_carrier_phase_step_rad(0.0),
       d_acc_carrier_phase_cycles(0.0),
       d_code_phase_samples(0.0),
@@ -682,15 +682,16 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                     // ################## PLL ##########################################################
                     // Update PLL discriminator [rads/Ti -> Secs/Ti]
                     d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / TWO_PI;  // prompt output
-                    d_carrier_doppler_old_hz = d_carrier_doppler_hz;
+                    d_carrier_frequency_old_hz = d_carrier_frequency_hz;
                     // Carrier discriminator filter
                     // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
                     // Input [s/Ti] -> output [Hz]
-                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_frequency_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_doppler_hz = d_carrier_frequency_hz - DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN);
                     // PLL to DLL assistance [Secs/Ti]
-                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_frequency_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
                     // code Doppler frequency update
-                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_CPS + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_CPS + (((d_carrier_frequency_hz - d_carrier_frequency_old_hz) * GLONASS_L1_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
@@ -716,12 +717,12 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
 
                     // ################### PLL COMMANDS #################################################
                     // carrier phase step (NCO phase increment per sample) [rads/sample]
-                    d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_carrier_phase_step_rad = TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
                     d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / TWO_PI;
                     // UPDATE ACCUMULATED CARRIER PHASE
                     CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
                     // remnant carrier phase [rad]
-                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_frequency_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
 
                     // ################### DLL COMMANDS #################################################
                     // code phase step (Code resampler phase increment per sample) [chips/sample]
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index c1a530fd3..a11fb2a3f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -161,7 +161,7 @@ private:
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
     double d_carrier_frequency_hz;
-    double d_carrier_doppler_old_hz;
+    double d_carrier_frequency_old_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index f8fbe3b56..6ca1c9030 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -127,7 +127,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
       d_code_phase_step_chips(0.0),
       d_carrier_doppler_hz(0.0),
       d_carrier_frequency_hz(0.0),
-      d_carrier_doppler_old_hz(0.0),
+      d_carrier_frequency_old_hz(0.0),
       d_carrier_phase_step_rad(0.0),
       d_acc_carrier_phase_cycles(0.0),
       d_code_phase_samples(0.0),
@@ -682,15 +682,16 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                     // ################## PLL ##########################################################
                     // Update PLL discriminator [rads/Ti -> Secs/Ti]
                     d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / TWO_PI;  // prompt output
-                    d_carrier_doppler_old_hz = d_carrier_doppler_hz;
+                    d_carrier_frequency_old_hz = d_carrier_frequency_hz;
                     // Carrier discriminator filter
                     // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
                     // Input [s/Ti] -> output [Hz]
-                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_frequency_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_doppler_hz = d_carrier_frequency_hz - DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN);
                     // PLL to DLL assistance [Secs/Ti]
-                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_frequency_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
                     // code Doppler frequency update
-                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_CPS + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_CPS + (((d_carrier_frequency_hz - d_carrier_frequency_old_hz) * GLONASS_L1_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
@@ -716,12 +717,12 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
 
                     // ################### PLL COMMANDS #################################################
                     // carrier phase step (NCO phase increment per sample) [rads/sample]
-                    d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_carrier_phase_step_rad = TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
                     d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / TWO_PI;
                     // UPDATE ACCUMULATED CARRIER PHASE
                     CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
                     // remnant carrier phase [rad]
-                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_frequency_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
 
                     // ################### DLL COMMANDS #################################################
                     // code phase step (Code resampler phase increment per sample) [chips/sample]
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 3cdaed909..8c482ec92 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -163,7 +163,7 @@ private:
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
     double d_carrier_frequency_hz;
-    double d_carrier_doppler_old_hz;
+    double d_carrier_frequency_old_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
index 16f1dbc58..44a4bdcbd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
@@ -126,7 +126,7 @@ glonass_l2_ca_dll_pll_c_aid_tracking_cc::glonass_l2_ca_dll_pll_c_aid_tracking_cc
       d_code_phase_step_chips(0.0),
       d_carrier_doppler_hz(0.0),
       d_carrier_frequency_hz(0.0),
-      d_carrier_doppler_old_hz(0.0),
+      d_carrier_frequency_old_hz(0.0),
       d_carrier_phase_step_rad(0.0),
       d_acc_carrier_phase_cycles(0.0),
       d_code_phase_samples(0.0),
@@ -680,15 +680,16 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                     // ################## PLL ##########################################################
                     // Update PLL discriminator [rads/Ti -> Secs/Ti]
                     d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / TWO_PI;  // prompt output
-                    d_carrier_doppler_old_hz = d_carrier_doppler_hz;
+                    d_carrier_frequency_old_hz = d_carrier_frequency_hz;
                     // Carrier discriminator filter
                     // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
                     // Input [s/Ti] -> output [Hz]
-                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_frequency_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_doppler_hz = d_carrier_frequency_hz - DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN);
                     // PLL to DLL assistance [Secs/Ti]
-                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_frequency_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
                     // code Doppler frequency update
-                    d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_CPS + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L2_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
+                    d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_CPS + (((d_carrier_frequency_hz - d_carrier_frequency_old_hz) * GLONASS_L2_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
@@ -714,12 +715,12 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
 
                     //################### PLL COMMANDS #################################################
                     // carrier phase step (NCO phase increment per sample) [rads/sample]
-                    d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_carrier_phase_step_rad = TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
                     d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / TWO_PI;
                     // UPDATE ACCUMULATED CARRIER PHASE
                     CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
                     // remnant carrier phase [rad]
-                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_frequency_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
 
                     //################### DLL COMMANDS #################################################
                     // code phase step (Code resampler phase increment per sample) [chips/sample]
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
index dad366a48..bebb30333 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
@@ -159,7 +159,7 @@ private:
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
     double d_carrier_frequency_hz;
-    double d_carrier_doppler_old_hz;
+    double d_carrier_frequency_old_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
index 2f3e66890..ebd6894e6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
@@ -125,7 +125,7 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc
       d_code_phase_step_chips(0.0),
       d_carrier_doppler_hz(0.0),
       d_carrier_frequency_hz(0.0),
-      d_carrier_doppler_old_hz(0.0),
+      d_carrier_frequency_old_hz(0.0),
       d_carrier_phase_step_rad(0.0),
       d_acc_carrier_phase_cycles(0.0),
       d_code_phase_samples(0.0),
@@ -679,15 +679,16 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                     // ################## PLL ##########################################################
                     // Update PLL discriminator [rads/Ti -> Secs/Ti]
                     d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / TWO_PI;  // prompt output
-                    d_carrier_doppler_old_hz = d_carrier_doppler_hz;
+                    d_carrier_frequency_old_hz = d_carrier_frequency_hz;
                     // Carrier discriminator filter
                     // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
                     // Input [s/Ti] -> output [Hz]
-                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_frequency_hz = d_carrier_loop_filter.get_carrier_error(0.0, static_cast<float>(d_carr_phase_error_secs_Ti), static_cast<float>(CURRENT_INTEGRATION_TIME_S));
+                    d_carrier_doppler_hz = d_carrier_frequency_hz - DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN);
                     // PLL to DLL assistance [Secs/Ti]
-                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_frequency_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
                     // code Doppler frequency update
-                    d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_CPS + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L2_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
+                    d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_CPS + (((d_carrier_frequency_hz - d_carrier_frequency_old_hz) * GLONASS_L2_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
@@ -713,12 +714,12 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
 
                     // ################### PLL COMMANDS #################################################
                     // carrier phase step (NCO phase increment per sample) [rads/sample]
-                    d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_carrier_phase_step_rad = TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
                     d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / TWO_PI;
                     // UPDATE ACCUMULATED CARRIER PHASE
                     CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
                     // remnant carrier phase [rad]
-                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + TWO_PI * d_carrier_frequency_hz * CORRECTED_INTEGRATION_TIME_S, TWO_PI);
 
                     // ################### DLL COMMANDS #################################################
                     // code phase step (Code resampler phase increment per sample) [chips/sample]
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
index 8fedd8ad7..0902aa17a 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
@@ -158,7 +158,7 @@ private:
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
     double d_carrier_frequency_hz;
-    double d_carrier_doppler_old_hz;
+    double d_carrier_frequency_old_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;