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.

[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.