## 2 Related Work  
The recent adoption of RFSoC technology for 5G massive MIMO systems has made them a strong contender for the future of digitally reconfigurable beamforming systems. The research presented in [18] introduces a new digital beamformer for better wireless communication, especially in 5G networks. It uses a smart method to handle interference issues, demonstrating impressive results with minimal impact on signal quality. The approach reduces the need for complex and costly hardware, making it more efficient for multiple-user scenarios. This study also highlights how this technology can improve the performance of millimeter-wave frequencies in 5G communication systems, addressing challenges like signal loss and bulky hardware. Overall, it presents a cost-effective and energy-efficient solution for enhanced wireless communication. The study in [19] investigated multi-tile synchronization (MTS) and calibration for beamforming in wireless LTE communication, emphasizing optimal phase shifts among transmitters within an RFSoC context. The research demonstrated effective synchronization and calibration methods through digital beamforming for consistent phase shifts in varied communication scenarios. Several works report on FPGA and algorithm performance optimization of massive adaptive beamforming for 5G mobile networks [20; 21]. In these works, the focus is the reduction of the consumed resources and power while improving the throughput of the system. They demonstrate the feasibility, the flexibility, and the capability of FPGA system for digital beamforming, which validates our claim to use these systems to construct our development platform for beamforming algorithms and antenna arrays. The literature on beamforming for vehicular GNSS applications predominantly focuses on contemporary SoCs, particularly those manufactured by Xilinx, Inc. (San Jose, CA, USA). These SoCs are favored for their efficient development process and high-performance capabilities, attributed to the integration of FPGA technology with a central processing unit (CPU). In [14], the researchers implemented a four-antenna single-output single beam system capable of functioning with any receiver. They opted to use external commercially off the shelf (COTS) ADCs that communicate with the SoC in order to reduce development time; however, this introduces unnecessary delays due to extra overhead performed by communications. As mentioned by the authors, the majority of the system was constructed in FPGA due to its superior throughput, except for the weight calculation task, which was assigned to the algorithm executing in the CPU. The approach appears to be rational given the existing technological capabilities within the automobile industry. However, it may become insufficient as autonomous vehicle technology advances, leading to higher demands for signal accuracy and resilience. The project carried out by the authors in [11; 22; 23] improves in the integration of the components by using the novel RFSoCs provided by Xilinx, which includes GHz capable ADCs on the die itself, therefore reducing the overall size of the system. This is a system that, according to the authors, is capable of being integrated in an unmanned aerial vehicle due to its small footprint. The system integrates the receiver into the die, using a multiple-output beamformer closely integrated with a custom-made receiver to improve overall performance and reduce overall package size. This solution differs from our implementation as the integration of the receiver is not our goal. The literature contains several works that aim to develop antenna array technology for GNSS applications, such as jammer multipath suppression [24], and the design of compact [25] and low-cost [26] arrays. Similarly, works focusing on beamforming algorithms are reported [27; 28; 29].