MRTKLIB v0.3.0 Release Notes¶

Release date: 2026-03-06 Branch merged: feat/integrate-claslib → develop Upstream reference: CLASLIB ver.0.8.2 (9e714b9)

Overview¶

v0.3.0 completes the CLASLIB integration, bringing full QZSS CLAS L6D augmentation support to MRTKLIB. This release adds two new positioning engines (PPP-RTK and VRS DD-RTK), a complete CSSR decoder for IS-QZSS-L6-007 two-channel L6 input, and three utility applications for SSR/OSR processing and stream inspection.

The test suite grows from 30 to 53 tests, all passing.

What's New¶

CLAS Positioning Engines¶

Engine	Mode	3D RMS	Fix Rate	Dataset
PPP-RTK	Single-channel L6	5.9 cm	99.86%	DOY 239/2019
PPP-RTK	Dual-channel ST12	10.8 cm	98.75%	DOY 349/2019
PPP-RTK	Dual-channel (2025)	~15.6 cm	—	DOY 157/2025
PPP-RTK	L1+L5 (2025)	~10.0 cm	—	DOY 022/2025
VRS DD-RTK	Single-channel L6	3.3 cm	99.86%	DOY 239/2019

All results match upstream CLASLIB ver.0.8.2 within regression tolerances.

New Source Modules¶

File	Description
`src/clas/mrtk_clas.c`	CSSR ST1–ST12 decoder, L6 I/O, bank management
`src/clas/mrtk_clas_grid.c`	Tropospheric/STEC grid interpolation (GSILIB v1.0.3)
`src/clas/mrtk_clas_osr.c`	OSR computation from CSSR corrections
`src/clas/mrtk_clas_isb.c`	Inter-System Bias handling
`src/pos/mrtk_ppp_rtk.c`	CLAS PPP-RTK positioning engine
`src/pos/mrtk_vrs.c`	VRS double-differenced RTK engine (~2050 lines)

New Utility Applications¶

App	Description
`ssr2obs`	Convert CLAS L6 corrections → RINEX3 VRS pseudo-observations. Also outputs OSR corrections as CSV (`-c`) or RTCM3 MSM4 (`-b`).
`ssr2osr`	SSR→OSR verification via `postpos()`. Outputs per-satellite OSR residuals.
`dumpcssr`	CSSR message dump for L6 stream inspection and debugging.

New Configuration Options¶

prcopt_t fields extended for CLAS:

Field	Description
`err[5]`–`err[7]`	PPP-RTK measurement noise model (code/phase/iono)
`posopt[10]`–`posopt[12]`	Per-system frequency selection (GPS / GLONASS / Galileo+QZSS)
`floatcnt`	VRS-RTK float epoch threshold for filter reset

Configuration keys: pos1-errratio4, pos1-errratio5, pos2-floatcnt, pos1-posopt10 – pos1-posopt12.

Bug Fixes¶

set_ssr_ch_idx() / set_mcssr_ch(): added [0, SSR_CH_NUM) bounds guard to prevent out-of-bounds memory access when an invalid channel index is passed.
memset sizeof targets: biaosb->spb and biaosb->vspb now correctly reference their own member size instead of the sibling member.
ST12 fix rate (93% → 98.75%): two root causes fixed:
obs_code_for_freq(QZS, f=1) now returns CODE_L5Q (not CODE_L2S)
SIS/IODE boundary detection uses prev_orb_tow instead of requiring orb_tow == clk_tow (ST12 orbit epoch always leads clock epoch by 5 s)
PPP-RTK fix rate (97% → 99.86%): sat_lambda() switched from obsdef table to direct obs-code→frequency mapping, fixing QZS L2 wavelength = 0 caused by apply_pppsig() reordering the obsdef table for MADOCA signal selection.
compensatedisp() crash: fixed null-pointer dereference when SSR corrections are not yet available at epoch start.
clas_mode gate: PMODE_SSR2OSR now included in CLAS context initialisation check inside postpos().

License & Attribution Updates¶

All ~112 source files (library + apps) have been updated with: - Full 9-party copyright stack (H.SHIONO, Cabinet Office, Lighthouse Technology, JAXA, TOSHIBA, Mitsubishi Electric Corp., GSI, T.SUZUKI, T.TAKASU) - SPDX-License-Identifier: BSD-2-Clause - Doxygen @file blocks separated from license comments

LICENSE.txt and README.md updated to reflect Mitsubishi Electric Corp. and Geospatial Information Authority of Japan contributions.

Known Limitations¶

Real-time CLAS channel: rtkrcv currently processes only channel 0. Dual-channel real-time switching is not yet implemented.
Real-time L6D: Ionospheric STEC correction (L6D) is post-processing only.
Static mode: PPP-RTK/VRS-RTK in static receiver mode is not yet validated.

Upgrade Notes¶

prcopt_t has been extended (err[5→8], posopt[6→13]). A full rebuild from source is required. No configuration file changes are needed for existing MADOCALIB PPP workflows; CLAS-specific options default to safe values.