Changelog

Copy Markdown View Source

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]

[0.12.0] - 2026-06-08

Added

  • Orbis.GNSS.SP3.merge/2 merges several SP3 products from different analysis centers into one consistent precise-ephemeris dataset. Coverage is the union across satellite×epoch (a satellite present in any input is present in the output, filling a single center's dropouts); overlapping records are resolved by robust consensus — the largest subset of centers agreeing within tolerance is combined (:mean, :median, or :precedence), disagreeing centers are recorded as outliers, and a cell with no agreeing subset is quarantined rather than averaged. Pure and deterministic; returns the merged product plus an audit report (:quarantined, :single_source, :position_outliers).
  • Orbis.GNSS.SP3.clock_reference_offset/3 and Orbis.GNSS.SP3.align_clock_reference/3 expose the clock-datum primitive: precise clock products from different centers are referenced to different station/ensemble clocks, so their raw clocks differ by a per-epoch common offset. The first estimates that offset (robust median over common satellites); the second returns a copy of a product with its clocks shifted onto a reference's datum so the two are directly comparable. Positions need no such treatment.
  • Orbis.GNSS.BroadcastComparison now reports clock_datum_removed_rms_m / clock_datum_removed_max_m alongside the raw clock statistics: the per-epoch common reference-clock offset (median over satellites) is removed to give the actual signal-in-space clock error, several times smaller than the raw value.
  • Orbis.GNSS.Ephemeris.sample/3 samples a precise (Orbis.GNSS.SP3) or broadcast (Orbis.GNSS.Broadcast) ephemeris over an epoch window into a unified per-satellite, per-epoch table of ECEF position and clock bias — the same call shape for either source, with out-of-coverage cells reported as an explicit :no_ephemeris gap rather than extrapolated.
  • Orbis.GNSS.Broadcast.position/3 evaluates a single satellite's broadcast ECEF position and clock at an epoch (IS-GPS-200 LNAV, Galileo OS-SIS-ICD, BeiDou BDS-SIS-ICD).
  • Orbis.GNSS.BroadcastComparison.compare/4 (and the mix gnss.broadcast_diff task, with a --system selector) computes per-satellite broadcast-vs-precise orbit and clock differences (3D plus radial/along/cross RMS and max) over a window — the standard broadcast ephemeris accuracy check. Validated over a full UTC day against the IGS combined broadcast (BRDC00IGS) and CODE MGEX final precise orbits (COD0MGXFIN): GPS LNAV ~1.4 m, Galileo I/NAV ~0.9 m, BeiDou ~2.5 m orbit RMS.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 and fixed RTK solvers now accept code_smoothing: true to apply per-receiver/per-ambiguity-arc Hatch carrier smoothing to code observations before forming double differences. The real Wettzell RTK gate verifies the smoothing reduces code residual RMS while still refusing unsafe integer fixes.
  • Orbis.GNSS.RTK.solve_fixed_baseline_epochs/3 now supports opt-in partial ambiguity resolution with partial_ambiguity_resolution: true. When the full ambiguity set fails the ratio test, Orbis tries confidence-ranked subsets and re-solves with the accepted subset fixed while rejected ambiguities remain float-estimated. The real Wettzell RTK gate now verifies a safe four-ambiguity partial fix improves the L1 baseline while the unsafe full-set fix remains rejected.

Changed

  • GNSS integer ambiguity fixing now uses a complete bounded integer least-squares scan over the caller's integer_search_radius_cycles, scored by the exact ambiguity covariance inverse. Fixed-solution metadata reports integer_method: :bounded_ils (or :widelane_narrowlane_bounded_ils) for this path.
  • The default integer candidate cap for precise positioning and RTK fixed solvers is now 200_000, enough for the default radius-1 search with up to 11 ambiguities.
  • Orbis.GNSS.RTK.solve_float_baseline_epochs/3 and fixed RTK solvers now use non-reference satellites on the epochs where they are available instead of dropping a satellite from the entire arc when it is absent from one epoch. The reference satellite is still required across the arc.

Fixed

  • Orbis.GNSS.Core.IntegerLeastSquares no longer treats a missing runner-up lattice candidate as infinite ratio confidence; one-candidate searches now return integer_status: :not_fixed.
  • Orbis.GNSS.SP3.position/3 (and everything built on it, including Orbis.GNSS.Observables and the ephemeris sampler) now refuses an epoch beyond the product's node coverage with an epoch out of range error instead of silently extrapolating the interpolation spline to a non-physical position. Queries within one sampling step of the ends still interpolate; in-coverage results are bit-for-bit unchanged.

[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.