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Release Notes — v0.6.7

Conventional IGS precise-products float PPP via a new correction configuration axis

Release date: 2026-05-21 Type: Feature — new positioning capability (IGS-products float PPP) + a multi-GNSS iono-free fix Branch: release/v0.6.7

Overview

v0.6.7 adds conventional IGS precise-products float PPP to MRTKLIB. A new correction configuration axis decouples the correction source from the positioning mode, so mrtk post can now run float PPP from precise IGS products (SP3 / CLK / Bias-SINEX / ERP) — not only from the QZSS/MADOCA and CLAS augmentation paths it already supported.

It also fixes a long-standing iono-free gap that silently dropped Galileo and BeiDou on F9P-class receivers whose second band is GAL E5b (C7Q) or BDS B2I (C7I) with no E5a/B3I.

This release establishes the correction-axis framework (design in docs/design/configuration.md). The real-time SSR sources igs-rts, gal-has, and bds-b2b remain reserved (accepted by the enum but rejected at load time) and are implemented in later releases.

Major changes

correction configuration axis (#130, #136)

A new TOML key correction names the correction source independently of mode:

  • Implemented: none, igs (precise SP3/CLK files), qzs-madoca, qzs-clas.
  • Reserved (enum-only, rejected at load time): igs-rts, gal-has, bds-b2b.

When correction is omitted it is inferred from mode + satellite_ephemeris for backward compatibility, so existing configs keep working unchanged. resolve_correction() validates the (mode, correction) pair at load time (a hard error on an invalid combination).

IGS precise-products float PPP path

corr_meas() now branches on the correction source (IGS files / SSR / none), replacing the previous SSR-only measurement path. For correction = igs it uses the RTKLIB-style float-PPP model: applies optional P1-C1 / P2-C2 DCB from nav->cbias, never discards a measurement for a missing satellite bias, and lets the float phase-ambiguity absorb the satellite phase bias. SP3 / CLK / Bias-SINEX / ERP products are read into the nav fields the IGS path consumes.

Data-driven iono-free pair for IGS PPP (#135)

For correction = igs, the iono-free pair is selected from the available observations. GAL E5b (C7Q) / BDS B2I (C7I) satellites on receivers without E5a/B3I (e.g. u-blox ZED-F9P) are no longer silently dropped. The legacy pos2-sig obsdef reshaping is skipped so the receiver's actual second band survives, and a one-line-per-system stderr notice reports any non-nominal second-band auto-selection. The change is gated on correction == igs and is a no-op when the conventional slot-1 band is present — the IGS geodetic regression .pos is bit-identical, and MADOCA / CLAS / RTK paths are unchanged.

Regression tests

  • igs_ppp (#137) — GSI GEONET station 3034 (FUJISAWA), GPS+GAL, validated against the published GSI daily coordinate (igs_setup / igs_ppp / igs_ppp_check / igs_cleanup).
  • igs_iflc (#135) — ECJ02 u-blox F9P, 1 h window, exercising the GAL E5b / BDS B2I iono-free fallback against a full-day static-PPP reference coordinate (lightweight 0.9 MB data archive).
  • compare_pos_abs.py gains --llh and --ecef fixed-reference modes.

Files Changed

File Change
src/pos/mrtk_opt.c, include/mrtklib/mrtk_opt.h correction enum + resolve_correction()
src/pos/mrtk_ppp.c corr_meas IGS/SSR/none branches; data-driven IFLC pair; auto-select notice
src/pos/mrtk_spp.c data-driven IFLC 2nd-frequency for correction = igs
apps/rnx2rtkp/rnx2rtkp.c resolve_correction() wiring; gate apply_pppsig off for IGS PPP
conf/igs/*.toml IGS PPP sample configs
tests/data/igs/*, CMakeLists.txt igs_ppp and igs_iflc regression tests
scripts/tests/compare_pos_abs.py --llh / --ecef reference modes
docs/design/configuration.md correction-axis design and validity matrix

Upgrade notes

  • Existing configs need no change. correction is optional; when omitted it is inferred from mode + satellite_ephemeris exactly as before.
  • New IGS-products PPP setups should set correction = "igs" and provide the precise products via [files]. Note the existing input-routing trap: an OSB Bias-SINEX file must go to bias_sinex = (→ readbsnx), not dcb = (→ the legacy CODE-DCB text parser, which silently ignores SINEX).
  • MADOCA / CLAS / VRS-RTK behaviour is unchanged (those sources are inferred to qzs-madoca / qzs-clas).

Test Results

The IGS PPP (igs_ppp) and IFLC fallback (igs_iflc) regression groups pass. The only failures are the two known pre-existing ones on the maintainer host — rtkrcv_rt (real-time timing) and madocalib_pppar_ion_check (LAPACK vs embedded-LU numerical difference, see CLAUDE.md §7.2) — both unrelated to this release. The IGS geodetic regression .pos is bit-identical with the IFLC fix applied (no-op when the nominal band is present).

PRs

  • #130 — feat(ppp): add correction config axis with IGS-files float PPP path
  • #136 — feat: correction-axis phase 1
  • #137 — test: IGS-products PPP regression
  • #139 — fix(ppp): use available 2nd frequency for IGS iono-free PPP (#135)
  • #140 — release: v0.6.7
  • #143 — fix: address Copilot review on PR #140

Closes

  • #130 — feat: add a correction config axis (decouple from mode)
  • #135 — IGS iono-free PPP drops GAL E5b / BDS B2I on receivers without E5a/B3I