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Reference Papers

This page catalogs the academic papers and technical articles that MRTKLIB's algorithms are built on — both those inherited from upstream RTKLIB (cited in the original source headers) and those newly introduced by MRTKLIB for features that have no upstream equivalent (e.g. the SPP robust / TDCP work).

The PDFs themselves are not in this repository

Most papers are copyrighted (journal / conference proceedings) and are kept local only — docs/reference/papers/*.pdf is gitignored and never pushed to the remote. This page (the bibliography) is tracked. To read a paper, follow the Source link; if you have a redistributable copy, drop it in docs/reference/papers/ for local reference (open-access papers can stay link-only — the tracked citation is the deliverable).

Interface-control documents and standards (RINEX, RTCM, IS-GPS/QZSS, IERS Conventions, ANTEX/IONEX/SP3, …) are not listed here — they live in Specifications (ICDs). DOIs marked (confirm) are inferred from the citation text and should be verified before formal use.

A 📄 filename.pdf marker means a local copy is held next to this file (author-year-keyword.pdf convention; gitignored). Entries without a marker are link-only — follow the Source column.

A. Inherited from upstream RTKLIB

Cited in the references : headers of upstream/RTKLIB/src/* (and reused verbatim by MALIB / CLASLIB / MADOCALIB, which add no new academic papers).

Ambiguity resolution (lambda.c)

Paper Source Cited by
Teunissen, P.J.G. (1995). "The least-squares ambiguity decorrelation adjustment: a method for fast GPS ambiguity estimation." J. Geodesy 70:65–82. DOI 10.1007/BF00863419 lambda.c, mrtk_lambda.h
Chang, X.-W.; Yang, X.; Zhou, T. (2005). "MLAMBDA: A modified LAMBDA method for integer least-squares estimation." J. Geodesy 79:552–565. 📄 chang-2005-mlambda.pdf DOI 10.1007/s00190-005-0004-x lambda.c, mrtk_lambda.h

Tropospheric mapping functions (rtkcmn.c)

Paper Source Cited by
Boehm, J.; Niell, A.; Tregoning, P.; Schuh, H. (2006). "Global Mapping Function (GMF): A new empirical mapping function based on numerical weather model data." Geophys. Res. Lett. 33, L07304. 📄 boehm-2006-global-mapping-function-gmf.pdf DOI 10.1029/2005GL025546 rtkcmn.c
Niell, A.E. (1996). "Global mapping functions for the atmosphere delay at radio wavelengths." J. Geophys. Res. 101(B2):3227–3246. 📄 niell-1996-global-mapping-functions.pdf DOI 10.1029/95JB03048 rtkcmn.c
MacMillan, D.S. et al. (1997). "Atmospheric gradients and the VLBI terrestrial and celestial reference frames." Geophys. Res. Lett. 24(4):453–456. 📄 macmillan-1997-atmospheric-gradients-vlbi.pdf DOI 10.1029/97GL00143 ppp.c, mrtk_ppp_rtk.c

Satellite attitude / antenna modeling (ppp.c)

Paper Source Cited by
Kouba, J. (2009). "A simplified yaw-attitude model for eclipsing GPS satellites." GPS Solutions 13:1–12. 📄 kouba-2009-yaw-attitude-eclipsing-gps.pdf DOI 10.1007/s10291-008-0092-1 ppp.c
Dilssner, F. (2010). "GPS IIF-1 satellite antenna phase center and attitude modeling." Inside GNSS, Sep 2010. Free article (insidegnss.com) ppp.c
Dilssner, F.; Springer, T.; Gienger, G.; Dow, J. (2011). "The GLONASS-M satellite yaw-attitude model." Advances in Space Research 47(1):160–171. 📄 dilssner-2011-glonass-m-yaw-attitude.pdf DOI 10.1016/j.asr.2010.09.007 ppp.c

Ionosphere (ionex.c)

Paper Source Cited by
Schaer, S.; Markus, R.; Gerhard, B.; Timon, A.S. (1996). "Daily Global Ionosphere Maps based on GPS Carrier Phase Data Routinely Produced by CODE Analysis Center." Proc. IGS Analysis Center Workshop. 📄 schaer-1996-code-global-ionosphere-maps.pdf IGS proceedings (no DOI) ionex.c

Estimation theory (rtkcmn.c, ppp_ar.c)

Paper Source Cited by
Gelb, A. (ed.) (1974). Applied Optimal Estimation. MIT Press. Book (ISBN 0-262-57048-3) rtkcmn.c
Okumura, H. (1991). 『C言語による最新アルゴリズム事典』 (Dictionary of algorithms in C). Software Technology. Book (和書) ppp_ar.c

Astrodynamics, geoid & orbit propagation (ppp.c, geoid.c, tle.c)

Paper Source Cited by
Vallado, D.A. (2004). Fundamentals of Astrodynamics and Applications, 2nd ed. Space Technology Library. Book ppp.c, tle.c
Lemoine, F.G. et al. — EGM96: The NASA GSFC and NIMA Joint Geopotential Model. NASA/TP-1998-206861. NASA report geoid.c
Pavlis, N.K. et al. (2008/2012). "The development and evaluation of the Earth Gravitational Model 2008 (EGM2008)." J. Geophys. Res. 📄 pavlis-2012-egm2008.pdf DOI 10.1029/2011JB008916 geoid.c
Hoots, F.R.; Roehrich, R.L. (1980). "Spacetrack Report No.3: Models for Propagation of NORAD Element Sets." Spacetrack report (SGP4) tle.c
Vallado, D.A.; Crawford, P.; Hujsak, R.; Kelso, T.S. (2006). "Revisiting Spacetrack Report #3." AIAA 2006-6753. DOI 10.2514/6.2006-6753 tle.c

PPP processing guide (semi-formal, but a primary reference)

Paper Source Cited by
Kouba, J. (2009, rev.). "A Guide to using International GNSS Service (IGS) products." Free PDF (IGS) ppp.c, mrtk_tides.c, cssr2osr.c

B. Introduced by MRTKLIB

References for features MRTKLIB added with no upstream RTKLIB equivalent. The SPP-accuracy set is maintainer-verified against publisher records (May 2026) — see docs/design/spp-accuracy.md §9.

SPP robust estimation — IGG-III (#116 P2; mrtk_spp.c)

Paper Source Role
Yang, Y.; He, H.; Xu, G. (2001). "Adaptively robust filtering for kinematic geodetic positioning." J. Geodesy 75:109–116. 📄 yang-2001-adaptively-robust-filtering.pdf DOI 10.1007/s001900000157 Primary — IGG-III equivalent-weight scheme implemented in igg3_weight()
Wang, L.; She, J.; Cui, B. et al. (2025). "Mitigating Integrity Risk in SBAS Positioning Using Enhanced IGG III Robust Estimation." Remote Sensing 17(17):3067. 📄 wang-2025-enhanced-igg3-robust-sbas.pdf DOI 10.3390/rs17173067 Corroborating application

Robust scale — MAD (#116 P2)

Paper Source Role
Rousseeuw, P.J.; Croux, C. (1993). "Alternatives to the Median Absolute Deviation." JASA 88(424):1273–1283. DOI 10.1080/01621459.1993.10476408 MADn robust scale for the standardized residual
Huber, P.J. (1981). Robust Statistics. Wiley. Book Foundation for robust scale + IRLS
Blewitt, G. et al. (2016). "MIDAS robust trend estimator for accurate GPS station velocities without step detection." JGR Solid Earth 121. 📄 blewitt-2016-midas-robust-trend-estimator.pdf DOI 10.1002/2015JB012552 (confirm) Operational MAD-scaled robust GNSS

TDCP velocity estimation (#116; mrtk_rtkpos.c)

Paper Source Role
Van Graas, F.; Soloviev, A. (2004). "Precise Velocity Estimation Using a Stand-Alone GPS Receiver." NAVIGATION 51(4):283–292. 📄 vangraas-2004-precise-velocity-estimation.pdf DOI 10.1002/j.2161-4296.2004.tb00359.x Primary — TDCP velocity
Serrano, L. et al. (2004). "A GPS Velocity Sensor: How Accurate Can It Be? — A First Look." Proc. ION NTM 2004, pp. 875–885. PDF Primary
Freda, P.; Angrisano, A.; Gaglione, S.; Troisi, S. (2015). "Time-differenced carrier phases technique for precise GNSS velocity estimation." GPS Solutions 19(2):335–341. 📄 freda-2015-tdcp-velocity.pdf DOI 10.1007/s10291-014-0425-1 Primary

Doppler / TDCP fused in an EKF (#116 P6, design)

Paper Source Role
"Doppler measurement integration for kinematic real-time GPS positioning." Applied Geomatics 2(4):155–162 (2010). DOI 10.1007/s12518-010-0031-z Doppler-in-EKF precedent
"The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme … and Robust Regression." Remote Sensing 12(16):2550 (2020). DOI 10.3390/rs12162550 Template for robust-WLS + TDCP-EKF hybrid
"A Doppler enhanced TDCP algorithm based on terrain adaptive and robust Kalman filter using a stand-alone receiver." J. Navigation (CUP). Article (vol/year confirm) Corroborating

Carrier smoothing & clock-jump (#116 P5/P6 lineage)

Paper Source Role
Hatch, R. (1982). "The Synergism of GPS Code and Carrier Measurements." Proc. 3rd Int. Geodetic Symp. on Satellite Doppler Positioning, vol. 2, pp. 1213–1231. Proceedings Origin of position-domain smoothing TDCP generalises
Everett, T.; Taylor, T.; Lee, D.-K.; Akos, D.M. (2022). "Optimizing the Use of RTKLIB for Smartphone-Based GNSS Measurements." Sensors 22(10):3825. 📄 everett-2022-optimizing-rtklib-smartphone.pdf DOI 10.3390/s22103825 demo5 clock-jump lineage

Adding a paper

  1. If you have a redistributable copy, place the PDF in docs/reference/papers/ with a stable author-year-keyword.pdf filename.
  2. Add a row to the relevant section (A = upstream-inherited, B = MRTKLIB-new): full citation, DOI/source link, and which module/algorithm cites it.
  3. Commit only index.md — any PDF is gitignored automatically.
  4. New algorithm work should cite its references in the source header's references : block and add a row here.