MRTKLIB v0.3.2 Release Notes¶

Release date: 2026-03-06 Type: Patch (test infrastructure improvement — no functional changes)

Overview¶

v0.3.2 expands the regression test suite from 53 to 57 tests by introducing a three-tier test methodology that adds absolute geodetic accuracy (Tier 2) and position precision (Tier 3) checks alongside the existing relative porting correctness tests (Tier 1). Python tooling is cleaned up and standardised with Ruff linting.

No library code, algorithms, or public API changed in this release.

What Changed¶

Three-Tier Test Methodology¶

A new framework document (docs/test-accuracy-methodology.md) defines three complementary validation layers:

Tier 2 — Absolute Accuracy Tests (2 new tests)¶

Two new CTest entries validate geodetic accuracy against independent reference coordinates:

Reference source details:

• IGS SINEX — Station coordinate from +SOLUTION/ESTIMATE block with optional velocity propagation to the observation date. Formal precision = σ₃D = √(σ_X² + σ_Y² + σ_Z²).
• GSI F5 — 15-day median of daily ECEF coordinates (D−7 … D+7). Reference precision = 68th-percentile of 3D scatter within the window.

New scripts: scripts/tests/compare_pos_abs.py, scripts/tests/compare_nmea_abs.py

Tier 3 — Position Scatter Tests (2 new tests)¶

Two new CTest entries check solution precision (repeatability) without any external reference:

The algorithm computes the ECEF session centroid and measures per-epoch ENU deviation. Pass criteria: both 1σ (68th percentile) and 95th percentile of 2D horizontal scatter must be below the tolerance.

New script: scripts/tests/check_pos_scatter.py

Python Script Tooling¶

• Ruff linting — ruff.toml added at project root (analogous to .clang-format for C/C++); scripts/pyproject.toml retains only package dependency metadata. All scripts pass ruff check with E, F, W, I, D rule sets.
• VSCode integration — .vscode/settings.json added with Ruff format-on-save for Python files and interpreter path pointing to scripts/.venv.
• Script cleanup:
• Deleted: fix_trace_fwd_decls.py, migrate_trace_ctx.py (one-time migration tools, no longer needed)
• Deleted: plotting/plot_lex_{eph,ion,ure}.py (LEX service retired 2020)
• Moved: tests/plot_{gloeph,igp,peph}.py → plotting/ (analysis tools, not test runners)
• Shared geodetic helpers — scripts/tests/_geo.py consolidates blh2xyz, xyz2blh, xyz2enu, and nmea_to_deg that were duplicated across four test scripts. Single authoritative implementation with convergence-checked xyz2blh (early exit at 1×10⁻¹² rad).

Bug Fixes¶

• NMEA height recovery — compare_nmea_abs.py now correctly recovers ellipsoidal height as h_ell = field[9] + field[11] (MSL + geoid separation). Previously field[11] was not summed, causing ~40 m Up errors for MRTKLIB-generated GGA files.
• Absolute check 2D mode — compare_pos_abs.py --use-2d flag now consistently applies to both the reported metric and the pass/fail criterion.

All 57 Tests Pass¶