A frequency drift compensation system for a radio receiver includes a pilot signal generator that is configured to generate two pilot signals, a local oscillator that is configured to generate a local oscillator frequency signal, a first mixer that generates a first offset pilot signal, a second mixer that generates a second offset pilot signal, and a summer that is configured to add the first offset pilot signal and the second offset pilot signal to the intermediate frequency signal to obtain a composite signal. The frequency drift compensation system includes a processor that is configured to detect frequency drift in the offset pilot signal responsive to the composite signal and to generate a frequency drift control signal to compensate for the frequency drift. Related radio receivers, GPS receivers, and methods are described.