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]

[0.29.1] - 2026-06-15

Changed

  • Orbis.GNSS.SP3.merge/2 and Orbis.GNSS.Data.fetch_merged_sp3/3 now combine source products with different native epoch intervals by decimating the finer ones onto a common coarser grid (exact subset selection, no positional interpolation), instead of rejecting the merge. This lets ultra-rapid products published at different cadences be consensus-merged across the full center set (e.g. fetch_merged_sp3(target, [:igs_ult, :cod_ult, :esa_ult, :gfz_ult], combine: :precedence, systems: [:gps], epoch_interval_s: 900) — IGS/ESA at 15 min, CODE/GFZ at 5 min — now returns {:ok, %SP3{}, provenance}). Inputs whose interval does not evenly divide the common grid are still rejected; same-interval merges are unchanged. Rides astrodynamics-gnss 0.18.0.

[0.29.0] - 2026-06-15

Added

  • PPP per-range correction stack for the static float/fixed precise-positioning solve, all opt-in (no change to default behaviour):
    • solid_earth_tide: IERS DEHANTTIDEINEL station displacement.
    • phase_windup: demo5/RTKLIB carrier-phase wind-up (nominal yaw attitude), applied to the phase observable only.
    • satellite_antenna: satellite antenna PCO/PCV from an ANTEX file, iono-free combined, projected onto the line of sight. These ride astrodynamics 0.11.0 (analytic Sun/Moon in ITRS, corrected for an of-date precession double-count) and astrodynamics-gnss 0.17.0 (solid-earth tide kernel). The Sun/Moon and tide kernels are validated through the NIF against Skyfield/DE440 and IERS golden vectors.
  • RINEX SYS / PHASE SHIFT: the parsed correction_cycles are now applied to the carrier-phase observable (previously parsed but never applied).
  • GLONASS FDMA: Orbis.GNSS.Velocity accepts a per-satellite carrier (:carrier_hz_by_sat) so a GLONASS Doppler is converted to range rate with its own slot frequency instead of a single global GPS L1 carrier.

Documentation

  • Clarified the IONEX rapid/predicted fetch story. The latest-available-day candidate fallback described in 0.28.0 is delivered by fetch_ionex/3 (which walks candidate days newest-first), not by fetch/2 on a single product, which is single-shot by design. The mgex_ionex/3, rapid_ionex/2, and predicted_ionex/3 docs now point to fetch_ionex/3 for fallback fetching.
  • Documented that the CODE rapid GIM (:cod_rap) is a rolling-recent window on the AIUB /CODE root (current day not yet published; files older than roughly three days roll off), and that the predicted map (:cod_prd1) is preferred for same-day use.

[0.28.0] - 2026-06-14

Added

  • Lower-latency CODE IONEX (global ionosphere TEC map) products in the data catalog, alongside the existing final COD0OPSFIN: :cod_rap (rapid GIM, COD0OPSRAP) and :cod_prd1 / :cod_prd2 (predicted GIM, COD0OPSPRD, the map for the requested UTC day and the day after). Final GIMs lag one to three weeks; the rapid and predicted maps resolve same-day / before-the-day over the AIUB CODE archive, so a near-real-time ionosphere map is now fetchable through the same path as the final IONEX. Rapid and predicted lines carry a latest-available-day candidate fallback, mirroring the SP3 ultra-rapid pattern. Single-product fetch only (no merge/combine). IGS rapid IONEX has no verified open mirror and remains in the no-open-mirrors set.

[0.27.0] - 2026-06-14

Fixed

  • SP3 satellite-orbit interpolation (via astrodynamics-gnss 0.16.0): the position channel was a global cubic spline that erred ~200 m at the day boundary and across coverage gaps, invisible in double-differenced RTK (it cancels) but corrupting undifferenced precise positioning. Replaced with the IGS/RTKLIB-standard sliding-window Lagrange. Anyone using SP3-based undifferenced positioning should upgrade.

Added

  • A-priori Saastamoinen troposphere in the dual-frequency RTK path (matching RTKLIB tropopt=saas), improving short/medium-baseline fixes; default on, troposphere: false to disable.
  • Precise-positioning foundation toward static-arc PPP: cycle-slip arc-splitting in the iono-free float solve, a RINEX clock (.CLK) reader, receiver-antenna PCO/PCV and SP3 satellite-clock relativity applied through a single per-one-way-range correction point, a configurable data-gap arc reset, and a post-fit residual screen. The ratio-test threshold now rejects values below 1.0 (which would silently disable ambiguity validation).

Changed

  • Rides astrodynamics-gnss 0.16.0.

[0.26.0] - 2026-06-14

Added

  • Orbis.GNSS.Positioning.solve/4 gains an opt-in :huber option: a crate-layer Huber/IRLS robust reweighting loop that recomputes each satellite's weight from its post-fit residual, down-weighting multipath and gross code outliers on cheap single-frequency receivers rather than excluding whole satellites. Tunable via :huber_k, :huber_sigma (MAD scale floor, default 5.0 m), and :huber_max_iter. Default off and byte-identical to the static elevation-weighted solve when unused. On the vendored GSDC Pixel-5 arcs it improves the 3D median and p95 on every arc with no loss of availability.
  • When :huber runs, solution.metadata carries :huber with the outer_iterations count and the final_scale_m (the last MAD robust scale); the key is absent on the default path.

Changed

  • Riding astrodynamics-gnss 0.15.0 / astrodynamics 0.10.0, which carry the robust-reweighting kernel.

[0.25.0] - 2026-06-13

Added

  • Orbis.GNSS.Positioning.solve/4 accepts an opt-in :robust flag that routes the single-point solve through RAIM leave-one-out fault detection and exclusion. It requires a real measurement noise model: a :weights map with a positive, finite weight for every observed satellite (extra keys are ignored), or the explicit :unsafe_unit_weights escape hatch. Without a noise model it refuses ({:error, {:robust_requires_noise_model, :no_weights}}) rather than silently running unit-weight FDE, which degrades real receiver fixes. An exhausted-but-still-faulted search returns {:error, {:fault_unresolved, statistic}}, and the exclusion ledger is reported in solution.metadata.fde.
  • solve/4 accepts an opt-in :coarse_search that widens the cold-start convergence basin from a degraded or absent position prior by solving from a deterministic golden-spiral lattice of near-surface seeds and selecting the best redundant converged fix. It is mutually exclusive with :robust. Default off (nil) preserves the single exact solve.

Notes

  • All solve/4 robust and coarse options are additive and default to current behavior; with neither set the solve is unchanged from 0.24.0. Malformed robust/coarse option values return tagged {:error, _} rather than raising.

[0.24.0] - 2026-06-13

Fixed

  • Orbis.GNSS.Positioning.solve/4 no longer returns a fix that did not converge to a physical receiver position. A fix whose geocentric radius is outside the plausible band (for example a degenerate first step from the earth-center default seed, previously returned as a ~6.4e6 m "converged" position, or a wrong-root least-squares fix whose residuals are forced to zero by an exactly determined geometry) is refused with {:error, {:implausible_position, radius_m}}, and a converged-flagged fix with physically implausible post-fit residual RMS with {:error, {:no_convergence, rms_m}}. A rank-deficient geometry (no DOP cofactor inverse, which is also what lets a wrong-root mirror land on the plausible shell) is refused with {:error, {:degenerate_geometry, :rank_deficient}}. These are behavior changes: inputs that previously returned a bogus {:ok, solution} now return a tagged error.

Added

  • solve/4 solution metadata now carries the geometry redundancy: used_count, distinct systems, redundancy (degrees of freedom, used_count - (3 + systems)), and raim_checkable?. An exactly determined fix (redundancy < 1) is now visibly unverifiable rather than appearing perfect at zero residual.
  • solve/4 accepts an optional :max_pdop ceiling: a rank-deficient or high-PDOP geometry is refused with {:error, {:degenerate_geometry, pdop}}, and a non-positive ceiling is {:error, {:invalid_option, :max_pdop}}.
  • A real-arc Doppler-velocity regression gate for Orbis.GNSS.Velocity on a cheap single-frequency phone arc (GSDC Pixel-5), checking receiver velocity against a finite-differenced truth track.

[0.23.0] - 2026-06-13

Added

  • Orbis.GNSS.RTK.solve_widelane_filter_baseline_epochs/3: a dual-frequency (L1/L2) sequential RTK filter. It resolves the Melbourne-Wubbena wide-lane integers per arc, forms the ionosphere-free narrow-lane observable, and runs the sequential fix-and-hold filter (including the convergence arming gate and the SD gauge constraint) on it. On the vendored PASA/SCOA L1/L2 arc it solves continuously and reaches a centimeter-class fixed solution. Available on both the Rust and Elixir kernels.

Documentation

  • Documented the :ar_arming_sigma_m convergence arming gate option and why it is opt-in by default.
  • README install version, feature-table wording, and the example livebooks refreshed; the livebooks now install the hex release so they run from the Run-in-Livebook badge without a Rust toolchain.

[0.22.0] - 2026-06-12

Added

  • Orbis.GNSS.RTK.solve_filter_baseline_epochs/3 accepts an opt-in ar_arming_sigma_m convergence arming gate: the per-epoch ambiguity search is attempted only once the baseline-block posterior standard deviation has converged to at most the threshold, so the sequential filter stops committing integers while the float state is still too loose to support a half-wavelength decision. The default (unset) preserves the always-armed behavior. Implemented in both kernels with a per-epoch bit-equality gate.

Changed

  • The reference single-difference ambiguity gauge constraint now applies to single-system arcs (previously multi-system only). The reference SD ambiguity is an unobservable gauge degree of freedom in any system count; on a long single-system arc with tight integer holds its pivot otherwise cancels to zero (a :singular_geometry failure). The gauge is a double-difference null-space constraint, so baselines and double differences are unchanged, but single-system sequential filter numerics now include it. Together with the arming gate, the continuous real-arc L1 filter resolves centimeter-class fixed solutions on the default ambiguity-hold sigma.

[0.21.0] - 2026-06-12

Added

  • The Rust RTK filter kernel applies receiver antenna corrections (:receiver_antenna_corrections), previously accepted only by the :elixir kernel. PCO/PCV are projected in the double-difference row builder with op-for-op parity against the Elixir reference, gated for bit-equality across both kernels on the vendored PASA/SCOA real arc.

[0.20.0] - 2026-06-13

Added

  • dynamics_model: :velocity_propagated — the filter's prediction mean advances by a caller-supplied per-epoch ECEF velocity (:velocity_mps on epochs); default remains constant-position. Bit-equality gated across both kernels.
  • Optional per-epoch innovation screen (:innovation_screen_sigma, :innovation_screen_min_rows): rows with excessive normalized predicted residuals are excluded from the measurement update; epochs coast below the survivor floor. Implemented in both kernels with firing bit-equality gates and per-epoch screen metadata.
  • Orbis.GNSS.Antex: ANTEX 1.4 receiver-antenna parser (PCO/PCV with zenith and azimuth interpolation), gated against vendored reference values. Measurement-model application lands in a later release.

Changed

  • GNSS data downloads no longer use the deprecated Erlang :ftp transport, which is no longer started or listed as an application dependency.
  • GNSS product URLs now resolve through verified open HTTP(S) archives: GFZ rapid/ultra via isdc-data.gfz.de, ESA final/ultra/IONEX via navigation-office.esa.int, IGS broadcast nav / IGS ultra / station OBS via igs.bkg.bund.de, and CODE products via AIUB at ftp.aiub.unibe.ch.
  • Restored CODE products over AIUB plain HTTP: {:cod, :sp3} and {:cod, :clk} use CODE_MGEX/CODE/<year>/COD0MGXFIN_..., {:cod, :ionex} uses CODE/<year>/COD0OPSFIN_..., and {:cod_ult, :sp3} uses the recent CODE/COD0OPSULT_... product. AIUB does not offer HTTPS; transport integrity relies on the plain-HTTP channel for these public products.
  • Orbis.GNSS.RTK.solve_filter_baseline_epochs/3 now defaults to the Rust RTK filter kernel. :elixir remains fully supported as the reference implementation.

Removed

  • Still-retired catalog products with no verified open HTTP(S) mirror: {:grg, :sp3}, {:grg, :clk}, {:wum, :sp3}, {:wum, :clk}, {:grg_ult, :sp3}, {:grg_ult, :clk}, and {:igs, :ionex} now return {:error, {:no_open_mirror, {center, content}}}.

Notes

  • The default ambiguity-hold sigma is unchanged (1.0e-4): a softer default (1.0e-3) cures a documented long-arc conditioning failure but measurably degrades clean kinematic accuracy (the sigma-sweep gate caught it), so the softer value remains an explicit per-arc option pending a proper constraint-conditioning capability. See the C+D measurement report.

[0.19.0] - 2026-06-12

Changed

  • filter_kernel now defaults to :rust. The Elixir path remains fully supported as the reference implementation; every kernel capability is gated by bit-equality (===) trace tests against it.
  • The FTP transport was removed (:ftp is deprecated and removed in OTP 30). GFZ/ESA/BKG products moved to verified HTTPS archives; CODE (AIUB) products are served over plain HTTP (AIUB offers no TLS); products with no open mirror return {:error, {:no_open_mirror, {center, content}}}.

Added

  • Honest GSDC moving-rover RTKLIB-demo5 oracles (four pre-registered arcs, committed generators, ratio test enabled) and the pre-registered moving-rover gate specification with measurement report.
  • Multi-GNSS oracle regenerated with GLONASS ephemerides present (BRDC00WRD GREC nav); oracle gates tightened to exact fixed-epoch equality.
  • Early {:unsupported_widelane, :multi_gnss} rejection for multi-GNSS dual-frequency widelane input.

[0.18.0] - 2026-06-12

Added

  • Orbis.GNSS.RTK.solve_filter_baseline_epochs/3 now supports multi-GNSS RTK filter epochs with per-system reference satellites. GLONASS can be kept in the float solution via :float_only_systems while GPS/Galileo/etc. remain eligible for integer search and hold.
  • The sequential RTK filter accepts :process_noise_baseline_sigma_m for kinematic baseline tracking. The default remains the static filter.
  • Added four vendored RTKLIB oracle fixtures for the WTZR/WTZZ real arc, covering broadcast/precise and static/kinematic RTK tracks, with the generator configs and conversion script checked in with the fixtures.

Fixed

  • Fixed cold-start fixed epochs so the reported fixed solution uses the ambiguity-conditioned baseline from the same epoch instead of reporting the float baseline while marking the epoch fixed.

Tests

  • Added === bit-equality gates between the Elixir RTK filter path and the Rust NIF kernel for multi-GNSS references, GLONASS float-only handling, kinematic process noise, gauge constraints, held ambiguities, and cold-start fixes.
  • Added a sigma-sweep RTK gate that exercises the filter across the measurement variance settings used by the real-arc parity tests.
  • Multi-GNSS input to solve_widelane_fixed_baseline_epochs/3 is rejected early with {:unsupported_widelane, :multi_gnss} (single-constellation scope; previously failed late at the delegated fixed solve).

[0.17.0] - 2026-06-11

Added

  • Orbis.GNSS.RTK.solve_filter_baseline_epochs/3 gains an opt-in Rust filter kernel via filter_kernel: :rust (default remains :elixir). The kernel reproduces the Elixir sequential RTK information filter — iterated Gauss-Newton update with correlated double-difference measurement covariance, SD→DD ambiguity transform, LAMBDA search-and-hold, and the elevation-weighted / RTKLIB stochastic models — and is verified epoch-for-epoch against the Elixir path on real Wettzell arcs. Existing callers are unaffected.

Changed

  • The native NIF now builds against the published astrodynamics-gnss 0.10.0 crate (was a git-rev pin), which carries the RTK filter kernel. The kernel hot path holds a measured baseline of ~210k single-core solves/sec on a 6-satellite epoch with a CI-gated allocations-per-solve regression bound.

[0.16.0] - 2026-06-10

Added

  • RTK fixed-baseline solving can now run an opt-in normalized-residual gate before integer search. When enabled, the solver excludes the worst offending satellite up to a bounded cap, re-solves, and reports the exclusions in solution metadata; if the residuals still fail, it returns a tagged :residual_validation_failed error with the offending residual.
  • RTK float and fixed baseline solvers now accept :elevation_mask_deg, which removes satellites below the base-station elevation mask before reference selection and ambiguity construction. Masked satellites are reported in solution metadata.
  • Orbis.GNSS.RTK.solve_filter_baseline_epochs/3 adds a sequential static RTK information filter: it carries baseline/ambiguity covariance epoch to epoch, attempts LAMBDA ambiguity fixing from the posterior covariance, and holds accepted integers with a configurable pseudo-measurement. The filter carries RTKLIB-style single-difference ambiguity states, searches/holds the corresponding double-difference integer combinations, and seeds the single-difference ambiguities from phase-code differences rather than starting every ambiguity at zero.
  • Sequential RTK epoch metadata now includes integer-search diagnostics (integer_best_score, integer_second_best_score, integer_candidates, and ambiguity_search) so parity/debug gates can inspect the posterior ambiguity vector, covariance, and postfit residuals at each fix attempt.
  • RTK float/fixed/filter baseline solvers accept stochastic_model: :rtklib for RTKLIB's floor-plus-elevation single-difference variance shape. The default remains :simple.
  • RTK baseline epochs may now carry receiver-specific :base_satellite_positions_m and :rover_satellite_positions_m maps for transmit-time satellite positions. When omitted, the solvers keep the previous shared :satellite_positions_m behavior.
  • RTK float/fixed/filter baseline solvers now apply the first-order Sagnac Earth-rotation range correction by default (sagnac: true), with sagnac: false available for synthetic Euclidean fixtures.
  • Orbis.GNSS.RINEX.Observations.antenna_delta_hen/1 exposes the parsed ANTENNA: DELTA H/E/N receiver antenna offset so real RTK gates and consumers can derive antenna-reference-point baselines from the observation product itself.
  • Orbis.GNSS.RINEX.Observations.phase_shifts/1 exposes parsed SYS / PHASE SHIFT carrier correction metadata for correction-model and RTK parity work.

Fixed

  • The sequential RTK filter now starts a fresh ambiguity arc when a satellite reappears after an outage (set below the horizon, or lost lock without an LLI flag). Previously only an explicit LLI cycle slip broke an arc, so a re-risen satellite reused its pre-outage carrier-phase ambiguity — a stale integer that could differ from the truth and corrupt the static baseline. Re-acquisition is now always treated as a new arc, independent of the :on_cycle_slip policy; continuous arcs are unaffected.
  • RTK APIs now reject unknown/misspelled options at the public boundary instead of silently falling back to defaults, and RTK residual finalization returns a tagged error if an internal row set is missing either the code or phase member of a double-difference pair. Fractional-epoch helpers in broadcast and SPP positioning also no longer carry dead error clauses that produced warnings-as-errors failures on newer Elixir compilers.

Tests

  • Added a vendored RTKLIB rnx2rtkp oracle fixture for the WTZR/WTZZ real RTK arc. The fixture pins the L1+broadcast fix-and-hold reference target (119/120 fixed, first fix at 2020-06-25 00:00:30 GPST, millimetre final ARP baseline error) plus L1 instantaneous, L1 float, and L1/L2 comparison summaries. The provenance now records that RTKLIB defaults to broadcast ephemeris unless pos1-sateph = precise is set, so this fixture is not mislabeled as an SP3 parity oracle.
  • Added a separate RTKLIB precise-mode fixture for the same WTZR/WTZZ arc, generated with pos1-sateph = precise, a CODE final SP3 orbit, and a CNES/CLS RINEX clock. The provenance records RTKLIB 2.4.2's lowercase .sp3 staging requirement and pins that the precise run fixes the same 119/120 epochs as the broadcast reference.
  • The real WTZR/WTZZ RTK gate now builds receiver-specific transmit-time satellite-position maps and verifies the corrected geometry reaches the RTKLIB millimetre class: the two-epoch prefix fixes below 1 cm, the 120-epoch single-frequency partial-AR path fixes a safe subset below 1 cm, and the dual-frequency wide-lane/narrow-lane path fixes the full set below 1 cm.

[0.15.1] - 2026-06-09

Fixed

  • The internal integer least-squares search wrappers now reject malformed covariance dimensions with tagged errors before entering the NIF, and map the Rust kernel's non-finite/search-limit failures explicitly. Undersized matrices no longer panic the NIF, and oversized matrices are no longer silently truncated to a submatrix.

[0.15.0] - 2026-06-09

Fixed

  • Orbis.GNSS.SP3.merge/2 and Orbis.GNSS.Data.fetch_merged_sp3/3 now reject heterogeneous SP3 merge inputs conservatively instead of emitting a corrupt union product: mixed epoch intervals must be resampled before merge (or match a requested :epoch_interval_s), coordinate-system labels must match exactly, and combine: :precedence selects one source per satellite arc rather than switching centers between adjacent epochs. Merge callers can also restrict the output with :systems (for example [:gps]).

Added

  • Orbis.GNSS.Constellation.health_timeline/2, health_state/1, and health_timeline_to_map/1 build deterministic health/outage intervals from timestamped catalog snapshots. The timeline reuses diff/2 for snapshot transitions, reports derived health-state changes, preserves source metadata (including NAVCEN/NANU fields), supports stale-snapshot detection for catalog watchers, and serializes to a versioned map for notification/state files.

[0.14.1] - 2026-06-09

Fixed

  • Re-published the 0.14.x release line with precompiled-NIF checksums matching the final GitHub release assets built against astrodynamics-gnss 0.9.4. The 0.14.0 package was published before the final checksum file was committed, so supported platforms could reject the downloaded precompiled archive and fall back poorly. No API or numerical behavior changed from 0.14.0.

[0.14.0] - 2026-06-08

Added

  • Orbis.GNSS.SP3.to_iodata/2 serializes an %Orbis.GNSS.SP3{} product back to standard SP3-c / SP3-d text — the inverse of the reader, so a read → merge/2 → write pipeline emits a single standard SP3 file any reader consumes. Pure and deterministic; header fields are derived from the product; a satellite absent at an epoch is written as the SP3 missing-orbit sentinel (so a quarantined merge cell re-reads as missing, never a fabricated position). Round-trips to SP3 format precision (mm / sub-ns) for position-only and position+velocity, multi-constellation products.
  • Orbis.GNSS.Data.write_sp3/3 writes a product to disk with the fetch layer's atomic-commit discipline (same-directory temp file + File.rename/2), with an optional gzip: true for the gzipped-archive shape. Unblocks persisting a merged product, which was otherwise only an in-memory handle.
  • Orbis.GNSS.Data.fetch_merged_sp3_file/4 composes fetch_merged_sp3/3 and write_sp3/3 into one call — fetch the merged current-day product from several ultra-rapid centers and persist it to a standard SP3 file, returning {:ok, path, report} so a live-latency product feeds the cache / observables / positioning layers with no network at solve time.
  • Orbis.GNSS.RTK.solve_widelane_fixed_baseline_epochs/3 now supports partial_ambiguity_resolution: true. When the full narrow-lane set fails the ratio test, a bounded largest-first exhaustive subset search (run only after the greedy ranking finds nothing) accepts the highest-ratio subset of the largest size that passes the unchanged ratio threshold. Holding the widelane integers fixed collapses the per-satellite bias, so the dual-frequency partial fix safely covers a larger subset than the single-frequency partial — on the real Wettzell arc, a 6-satellite fix (ratio 4.27, 4.4 cm baseline error) versus the single-frequency 4. The full-set refusal and single-frequency behavior are unchanged.

Fixed

  • Orbis.GNSS.Data now starts the Erlang :ftp transport itself before its first FTP fetch (the GSSC/MGEX archives are FTP). A consumer that used Orbis without starting the :orbis application tree (an escript, a bare script, a release that did not start the dep) previously crashed with (EXIT) no process: :ftp_sup; it no longer has to start Erlang transports by hand.
  • Orbis.GNSS.SP3.merge/2 now treats equivalent IGS reference-frame realizations as compatible: IGS20 / IGb20 / IGc20 are the same ITRF2020-based IGS frame (the middle letter is the product/realization line, not a datum), so products labeled differently across centers merge instead of failing with {:incompatible_sources, "mismatched coordinate systems"}. A genuinely different datum (e.g. IGS14 vs IGS20) is still rejected.

[0.13.0] - 2026-06-08

Added

  • Orbis.GNSS.Data.ops_ultra_sp3/3 and ops_ultra_clk/3 add the ultra-rapid precise-product tier to the offline-safe catalog/fetch layer. The catalog now derives anonymous GSSC archive names and URLs for IGS0OPSULT, COD0OPSULT, ESA0OPSULT, GFZ0OPSULT, and GRG0OPSULT SP3 products (plus GRG0OPSULT clocks), including sub-daily issue times, 02D spans, per-center sampling, and latest-available issue fallback before a target epoch.
  • Orbis.GNSS.Data.fetch_merged_sp3/3 fetches the same SP3 product from several centers in precedence order, tolerates not-yet-published or missing centers, and returns one merged Orbis.GNSS.SP3 plus provenance and merge-audit metadata. One available center is returned as a flagged single-source result; zero available centers returns {:error, {:no_products, reasons}}; centers that cannot be combined (mismatched time scale / coordinate-system frame) return {:error, {:incompatible_sources, %{centers:, reason:}}} rather than leaking a raw merge error.

[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

  • GNSS integer ambiguity fixing 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.