# Changelog
All notable changes to this project are documented here. The format is based on
[Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and this project
adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
## [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.