Precision measurements using traditional heterodyne readout suffer a 3dB quantum noise penalty compared with homodyne readout. The extra noise is caused by the quantum fluctuations in the image vacuum. We propose a two-carrier gravitational-wave detector design that evades the 3dB quantum penalty of heterodyne readout. We further propose a new way of realising frequency-dependent squeezing utilising two-mode squeezing in our scheme. It naturally achieves more precise audio frequency signal measurements with radio frequency squeezing. In addition, the detector is compatible with other quantum nondemolition techniques.