Changelog

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All notable changes to this project are documented here. The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

[0.11.0] - 2026-06-08

Added

  • Orbis.GNSS.PrecisePositioning.solve_fixed_epochs/3 now reports metadata.ambiguity_search diagnostics (satellite order, float ambiguities, ambiguity covariance, and inverse covariance in cycles) so callers can audit the LAMBDA integer decision against the same lattice metric.
  • Orbis.GNSS.PrecisePositioning now accepts elevation_weighting: true on float, multi-epoch, and fixed solves, scaling code and phase row sigmas by 1 / sin(elevation) for a simple real-data stochastic model that down-weights low-elevation observations.
  • Orbis.GNSS.RTK.double_differences/3 for deterministic base/rover code-and-carrier double differences, the RTK measurement primitive that cancels receiver clocks and common short-baseline satellite errors before baseline estimation.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 for static float RTK baseline estimation from supplied satellite ECEF positions and multi-epoch code/carrier double differences, holding one float ambiguity per non-reference double-difference arc. The float solution now exposes the double-difference ambiguity covariance and inverse covariance in metres.
  • Orbis.GNSS.RTK.solve_fixed_baseline_epochs/3 for LAMBDA-fixed RTK baseline estimation. It starts from the float RTK baseline, fixes double-difference carrier ambiguities with the same correlated covariance used by the float solve, and re-solves the baseline with those integers held fixed.
  • Orbis.GNSS.RTK.solve_fixed_baseline_epochs/3 now accepts ambiguity_offset_m, so fixed RTK ambiguities can be modeled as offset + integer * wavelength. This is the hook needed for wide-lane-fixed / narrow-lane dual-frequency RTK workflows.
  • Orbis.GNSS.RTK.solve_widelane_fixed_baseline_epochs/3 for dual-frequency RTK fixing. It estimates Melbourne-Wubbena wide-lane double-difference integers, converts the arc to ionosphere-free narrow-lane measurements, then runs the existing correlated LAMBDA baseline solve with the wide-lane offsets held fixed.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 and solve_fixed_baseline_epochs/3 now understand carrier-phase arc identities: map observations may carry :ambiguity_id, and LLI loss-of-lock can be handled with on_cycle_slip: :error | :drop_satellite | :split_arc. Split arcs reset the affected double-difference ambiguity while residuals keep the physical satellite id.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 and solve_fixed_baseline_epochs/3 now accept elevation_weighting: true, which scales each undifferenced measurement sigma by 1 / max(sin(elevation), 0.05) before propagating the correlated double-difference covariance.
  • Orbis.GNSS.PrecisePositioning.solve_widelane_fixed_epochs/3 now supports on_cycle_slip: :split_arc, which resets a satellite's carrier ambiguity at detected cycle slips and keeps any post-slip fragments long enough for wide-lane fixing. Split fragments are reported in metadata.split_cycle_slip_arcs and use suffixed ambiguity ids such as "G21#2" in used_sats and the ambiguity maps.

Changed

  • Orbis.GNSS.PrecisePositioning.solve_fixed_epochs/3 now uses an LDL-consistent forward recursion for the decorrelated LAMBDA sphere search. This fixes the zero-candidate search miss on noisy real arcs without an original-space substitute path: those arcs now return a FixedSolution with metadata.integer_status == :not_fixed when candidates exist but fail the ratio test.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 now propagates the non-diagonal double-difference measurement covariance into the normal equations and ambiguity covariance instead of treating DD rows that share a reference satellite as independent.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 now chooses the highest-average-elevation common satellite as the default reference, with a deterministic satellite-id tie-break. double_differences/3 still defaults to the lexicographically first common satellite because it has no geometry.

[0.10.0] - 2026-06-07

Added

  • Orbis.GNSS.IonosphereFree.iono_free_phase/4 and iono_free_phase_cycles/4 for PPP/RTK-facing first-order ionosphere-free carrier-phase combinations, plus Orbis.GNSS.CarrierPhase.phase_meters/2, code_minus_carrier/3, and smooth_iono_free_code/2 for code-carrier diagnostics and dual-frequency divergence-free Hatch smoothing.
  • Orbis.GNSS.PrecisePositioning.solve_float/4, a first float-ambiguity carrier-phase estimator for one SP3-backed epoch from ionosphere-free code and phase observations. It estimates receiver ECEF position, clock, and one float ambiguity per satellite, exposing residuals and metadata for later PPP/RTK layers.
  • Orbis.GNSS.PrecisePositioning.solve_float_epochs/3, a static multi-epoch float carrier-phase estimator that holds one ambiguity per satellite across an arc while estimating one receiver clock per epoch. This is the bridge from single-epoch float positioning toward PPP/RTK ambiguity fixing.
  • Orbis.GNSS.PrecisePositioning.solve_fixed_epochs/3, an integer-fixed multi-epoch carrier-phase estimator. It starts from the float arc, builds the ambiguity covariance from the float normal matrix, runs LAMBDA integer decorrelation plus a covariance-weighted integer sphere search on explicit caller-supplied wavelengths, then re-solves receiver position and epoch clocks with the selected ambiguities held fixed. The fixed solution reports the integer method, ratio-test status, weighted scores, and evaluated candidate count.
  • Orbis.GNSS.PrecisePositioning.solve_widelane_fixed_epochs/3, a dual-frequency convenience layer that fixes Melbourne-Wubbena wide-lane integers first, then uses LAMBDA on the remaining narrow-lane integer while returning both ambiguity sets.
  • Orbis.GNSS.PrecisePositioning can now apply an opt-in a-priori Saastamoinen/Niell tropospheric slant delay to ionosphere-free code and phase observations (troposphere: true with surface meteorology options), including the float, multi-epoch, and fixed-ambiguity solve paths.
  • Orbis.GNSS.PrecisePositioning.solve_float_epochs/3 and solve_fixed_epochs/3 can now estimate one residual zenith troposphere delay over a static arc (estimate_ztd: true, with troposphere: true), reporting ztd_residual_m and metadata.ztd_estimated.
  • Orbis.GNSS.PrecisePositioning.solve_widelane_fixed_epochs/3 accepts on_cycle_slip: :drop_satellite to remove slipped satellite arcs before the wide-lane / narrow-lane solve. The default remains :error; dropped satellites are reported in metadata.dropped_cycle_slip_sats.

Changed

  • Req is now a required dependency. Network-backed features (CelesTrak, Orbis.GNSS.Data, NAVCEN constellation status) are first-class Orbis capabilities, and making the HTTP client required keeps consumer compiles warning-free.
  • The LAMBDA integer search now shrinks its live search bound to the current second-best candidate, so solve_fixed_epochs/3 keeps the same integer decision and ratio-test semantics while visiting far fewer complete candidates.
  • Orbis.GNSS.PrecisePositioning.solve_fixed_epochs/3 now reports an empty LAMBDA sphere-search result as {:error, {:no_integer_candidates, count}} instead of conflating it with the :too_many_integer_candidates cap.

[0.9.2] - 2026-06-06

Added

  • Orbis.GNSS.Constellation.diff/2 and changed?/1 for deterministic snapshot-to-snapshot catalog comparisons keyed by {system, prn}. The diff reports added/removed PRNs plus NORAD, SP3 id, SVN, activity, and usability changes in structured lists.
  • GLONASS FDMA carrier-phase wavelengths. Orbis.GNSS.RINEX.Observations exposes the parsed GLONASS SLOT / FRQ # channel map and phases/3 now derives carrier frequency, G1/G2 wavelengths, and metre phases for GLONASS satellites with a channel entry, so Orbis.GNSS.CarrierPhase can process real GLONASS phase arcs instead of skipping them.
  • Orbis.GNSS.ReducedOrbit and Orbis.GNSS.ReducedOrbit.Piecewise can now fit and drift against %Orbis.Elements{} TLE/OMM sources by sampling SGP4 over the requested window (TEME → GCRS → ECEF, UTC scale). This closes the LEO reduced orbit source path without changing the Rust reduced-orbit numerics.

[0.9.1] - 2026-06-05

Added

  • Rustler precompiled-NIF packaging support. Release tags now build GitHub Release archives for common Linux/macOS/Windows targets, and the Hex package will include checksum-*.exs so supported users do not need a local Rust toolchain. If no checksum file is present, Orbis source-builds instead of trying to download missing assets; ORBIS_BUILD=1 remains the explicit source-build escape hatch.
  • Orbis.GNSS.CarrierPhase — dual-frequency carrier-phase combinations and the quality tooling on them: geometry-free (L1 - L2), wide-lane wavelength, narrow-lane code, Melbourne-Wübbena, arc-wise cycle-slip detection (LLI bit, geometry-free step, and Melbourne-Wübbena step, with documented thresholds), and the single-frequency Hatch carrier-smoothed code (with slip/LLI reset). GPS/Galileo/BeiDou; GLONASS satellites are skipped (FDMA wavelengths not yet derived). Builds on the newly exposed phase observations; no crate change.
  • Orbis.GNSS.RINEX.Observations.values/3 and phases/3 — expose the raw RINEX observations for an epoch (pseudorange, carrier phase, Doppler, signal strength with their LLI/SSI), and a carrier-phase convenience that adds the wavelength and the phase in metres for GPS/Galileo/BeiDou bands (band_frequency_hz/2 is public; GLONASS FDMA wavelengths are not yet derived). values/3 takes a :codes per-system filter so only the requested systems/codes cross the NIF boundary. This unlocks carrier-phase combinations without a parser change.
  • Orbis.GNSS.Constellation.validate_sp3!/2 — a build-time validation gate that returns :ok or raises ArgumentError describing the findings (e.g. a stale-active PRN that is active and usable in the catalog but missing from a current SP3 product). Intended for catalog-build automation, not the runtime.
  • Python/georinex/scipy oracle gates for the recent Orbis-only GNSS layer: raw RINEX values/3 / phases/3, CarrierPhase combinations/slip/Hatch smoothing, IonosphereFree coefficients and combinations, GNSS.QC weighting/chi-square thresholds, GNSS.Observables.predict/5, C/A code/correlation/acquisition, LNAV parity/subframe synthesis, visibility/DOP, velocity, DGNSS, SolutionReport, and ReducedOrbit / ReducedOrbit.Piecewise fit/evaluation/drift against Astropy/scipy.

Changed

  • Orbis.GNSS.Constellation.to_csv/2 gains a :booleans option: :lower (default, conventional true/false) or :title (True/False, for a pandas-style consumer that reads the active column as Python booleans).
  • Orbis.GNSS.QC.chi2_inv/2 now inverts the regularized-gamma chi-square CDF and is checked against scipy.stats.chi2.ppf, replacing the older Wilson-Hilferty approximation.

[0.9.0] - 2026-06-05

A large GNSS expansion — signal generation, measurement modelling, velocity, quality control, and differential positioning — alongside a consolidation of the whole GNSS surface under the Orbis.GNSS.* namespace.

Added

  • Orbis.GNSS.Signal.CA — GPS L1 C/A Gold-code generation, chip indexing, and auto/cross-correlation (IS-GPS-200 G1/G2 generators and per-PRN taps).
  • Orbis.GNSS.Signal.Correlator — C/A code+carrier replica, coherent correlation, a 2-D code-phase/Doppler acquisition search, and the coherent-integration (sinc²) loss model.
  • Orbis.GNSS.Navigation.LNAV — GPS LNAV subframe synthesis and decoding: TLM/HOW, time-of-week, subframe parity (IS-GPS-200 Table 20-XIV), and ephemeris bit-packing.
  • Orbis.GNSS.Observables — predicted geometric range, range-rate, Doppler, satellite clock, elevation, and azimuth from a receiver position and an SP3 ephemeris, with light-time (transmit-time) and Sagnac corrections.
  • Orbis.GNSS.Geometry — satellite visibility above an elevation mask, dilution of precision (GDOP/PDOP/HDOP/VDOP/TDOP), DOP/visibility time series, and rise/set passes.
  • Orbis.GNSS.Velocity — receiver velocity and clock drift from Doppler or pseudorange-rate measurements by least squares over the line-of-sight geometry.
  • Orbis.GNSS.QC — measurement quality control: residual-based RAIM fault detection, leave-one-out fault detection and exclusion (FDE), and elevation/C-N₀ measurement weighting.
  • Orbis.GNSS.IonosphereFree — the dual-frequency ionosphere-free pseudorange combination, with standard per-system frequency pairs (GPS L1/L2, Galileo E1/E5a, BeiDou B1I/B3I).
  • Orbis.GNSS.DGNSS — code-differential positioning: base-station pseudorange corrections and corrected rover solves that cancel the errors common to both receivers (satellite clock, ephemeris, short-baseline atmosphere).
  • Orbis.GNSS.SolutionReport — a per-satellite and summary diagnostic over a position solution: elevation/azimuth, post-fit and RAIM-normalized residuals, DOP, residual RMS, and the integrity verdict.
  • Orbis.GNSS.ReducedOrbit.Piecewise — a piecewise (segmented) reduced-orbit model that tiles a span into contiguous fitted segments for tighter caching/transport accuracy than a single mean-element fit.

Changed

  • Breaking: GNSS modules now live under the Orbis.GNSS.* namespace. The old top-level GNSS names (Orbis.SP3, Orbis.PointPositioning, Orbis.GnssData, etc.) were removed instead of retained as aliases, matching the library's current single-client / pre-broad-adoption status. Examples: Orbis.GNSS.SP3, Orbis.GNSS.Positioning, Orbis.GNSS.Data, Orbis.GNSS.RINEX.Observations, Orbis.GNSS.ReducedOrbit, Orbis.GNSS.Signal.CA, and Orbis.GNSS.Navigation.LNAV.
  • Internal GNSS implementation helpers were consolidated under Orbis.GNSS.Core for shared constants, ECEF input normalization, epoch/window handling, validation, source sampling, and versioned-map guards.
  • Hardened public-API input validation across the GNSS modules: malformed receiver/base positions, out-of-range RAIM options, sub-second piecewise segment lengths, out-of-range LNAV flags, and duplicate observations now return tagged errors (or raise a clear ArgumentError for invalid options) instead of crashing, looping, or silently truncating.

[0.8.0] - 2026-06-05

Observation parsing and a compact orbit model. Orbis can now read a station's RINEX observation file end-to-end into pseudoranges, and distill a position track into a tiny, transportable mean-element model.

Added

  • Orbis.GNSS.RINEX.Observations — RINEX 3 observation parsing with Hatanaka (CRINEX 1.0 and 3.0) decoding. Decodes .crx/.rnx, exposes the header (incl. the surveyed APPROX POSITION), observation codes, and epochs, and extracts single-frequency pseudoranges (pseudoranges/3) in the [{satellite_id, range_m}] shape Orbis.GNSS.Positioning.solve/4 consumes — closing the loop from a station's observation file to a recovered position. Orbis.GNSS.Data gains a station observation product fetch and an observations/2 loader. CRINEX decoding is verified byte-for-byte against crx2rnx; an end-to-end test recovers a surveyed station position to metre level from real GPS observations.

  • Orbis.GNSS.ReducedOrbit — a compact, fitted mean-element approximation of an orbit for caching, transport, and quick visibility math (not orbit determination). Fits from an Orbis.GNSS.SP3 track or a list of ECEF samples; evaluates position/velocity (ECEF by default, GCRS on request); reports a source-backed drift/3 against the source ephemeris; and serialises to a stable, versioned map (to_map/1/from_map/1). Two models: :circular_secular (default) and :eccentric_secular (nonsingular h = e·sin ω, k = e·cos ω), the latter recovering the radial a·e signal that the circular model discards — cutting full-day extrapolation error by one-to-three orders of magnitude for GPS and BeiDou while matching the circular model on near-circular Galileo.

[0.7.0] - 2026-06-04

GNSS positioning. Orbis can now recover a receiver position from pseudoranges against precise or broadcast ephemeris, with the supporting ephemeris, correction, time, and data-fetch layers.

Added

  • Orbis.GNSS.Positioning — single-point positioning (SPP). Solves a receiver position, clock, and geometry diagnostics from one epoch of pseudoranges against either an Orbis.GNSS.SP3 precise product or an Orbis.GNSS.Broadcast handle. Multi-constellation (GPS / Galileo / BeiDou / GLONASS) solves carry one receiver clock per system; the solution reports position, geodetic position, per-system clocks, DOP, residuals, used/rejected satellites, and solver metadata.
  • Orbis.GNSS.SP3 — SP3-c/SP3-d precise orbit/clock loading and arbitrary-epoch satellite position/clock interpolation, plus satellite_ids/1 to read the product's declared satellite set.
  • Orbis.GNSS.Constellation — a GPS constellation catalog built from CelesTrak gps-ops OMM identity and an optional NAVCEN status/SVN overlay (PRN ↔ SVN ↔ NORAD ↔ SP3 id, active/usable flags). Merges sources only when the block type matches, recording PRN-transition disagreements as conflicts rather than corrupting identity; exports the compact mapping CSV and validates a catalog (duplicate PRNs/NORAD ids, inactive/unusable PRNs, and missing/extra satellites against a loaded Orbis.GNSS.SP3 product).
  • Orbis.GNSS.Broadcast — RINEX 3.x and 4.xx navigation parsing and broadcast orbit/clock evaluation: GPS LNAV, Galileo I/NAV and F/NAV, BeiDou D1/D2 (including geostationary satellites), and GLONASS (PZ-90.11 state-vector propagation by Runge–Kutta integration).
  • Orbis.GNSS.Ionosphere (broadcast Klobuchar, frequency-aware across L1/E1/B1I) and Orbis.GNSS.Troposphere (Saastamoinen zenith delay + Niell mapping) correction models.
  • Orbis.GNSS.Data — an optional product fetch/cache layer: a catalog over public archives, HTTPS (Req) and FTP downloads, an atomic on-disk cache with SHA-256 integrity and provenance sidecars, a gzip-bomb guard, and an offline mode. Includes convenience loaders that return Orbis.GNSS.SP3 / Orbis.GNSS.Broadcast handles. Req is an optional dependency.
  • Orbis.GNSS.Time — GNSS epoch/seconds-of-week and day-of-year helpers.

Notes

  • The GNSS numerical core lives in the Rust astrodynamics / astrodynamics-gnss crate layer. Its libm-bound components (orbit and clock evaluation, ionosphere, troposphere, dilution of precision) are held to bit-exact (0 ULP) parity against pinned Python references; broadcast orbits are additionally validated against precise SP3 products. The least-squares solver's final position is a sub-micron solver-agreement result, not a 0-ULP claim.

Releases before 0.7.0 predate this changelog.