arXiv:2610.41498v1 Announce Type: new Abstract: This paper presents a measurement noise adaptation mechanism for Kalman filter-based carrier tracking in a navigation-aided GNSS receiver designed for launch-vehicle applications. The tracking loop is tuned for 20\,g acceleration steps, which requires a wide bandwidth that makes the loop vulnerable to noise-driven pull-out at low carrier-to-noise density ratios. To resolve this tradeoff, the measurement noise covariance, $R$, is inflated via a two-layer gate: a sigmoid envelope keyed to the signal $C/N_0$, modulated by a dynamics indicator derived from the discriminator output statistics of the Loop Bandwidth Control Algorithm. During noise-dominated periods the gate inflates~$R$, reducing the Kalman gain so the filter coasts on the navigation-aided prediction; when dynamics are detected the gate opens within one epoch, restoring the high-bandwidth tuning. The navigation aiding is formulated as a stochastic control input whose uncertainty is propagated from the navigation EKF covariance. Simulation results on a 20\,g acceleration step scenario show that the adapted vector architecture doubles the lock-retention rate relative to the standalone scalar filter at $C/N_0 = 31$\,dB-Hz. The receiver is implemented in MSGR, an open-source MATLAB GNSS software-defined receiver.