Skip to content

Release Notes — v0.7.2

CLAS PPP-RTK accuracy/robustness fixes and mrtk dump --parse

Release date: 2026-06-29 Type: Fix + feature (CLAS PPP-RTK accuracy/robustness + CSSR tooling) Branch: release/v0.7.2

Overview

v0.7.2 collects two CLAS PPP-RTK correctness fixes and adds a CSSR dump tool for inspecting decoded CLAS L6D / Compact SSR:

  • The PPP-RTK adaptive-ionosphere process noise is restored under storm-day conditions — a lost Qp scatter-back meant the adaptive noise was never actually applied. Storm-day CLAS fix rate improves from 77% to 85% (+8 pp).
  • CLAS now falls back to global orbit/clock corrections when the close-network partition goes stale, instead of dropping corrections.
  • mrtk dump gains a --parse mode that reproduces the upstream claslib dumpcssr per-subtype CSV output byte-identically.

The two fixes are CLAS PPP-RTK behavior changes with an accuracy/robustness effect; the dump tool is a self-contained parser that leaves the production CLAS decoder untouched. F5 (GSI daily-coordinate) absolute-accuracy regression tests are added to guard geodetic accuracy going forward.

1. Bug fixes

PPP-RTK adaptive-ionosphere process noise

The compacted→full-nx Qp scatter-back had been lost, so the adaptive ionosphere process noise was never applied to the filter. Restoring the scatter-back makes the adaptive iono noise take effect again.

Storm-day CLAS fix rate improves from 77% to 85% (+8 pp) (#225, PR #226).

CLAS stale network partition

When the close-network orbit/clock partition goes stale, CLAS now falls back to the global orbit/clock corrections rather than dropping the corrections entirely. This keeps a solution alive through a stale-partition window (#218, PR #228).

2. What's new

mrtk dump --parse

mrtk dump gains a --parse mode that dumps decoded CLAS L6D / Compact SSR to the upstream-format per-subtype CSV files (parse_cssr_type1..12*.csv and parse_cssr_header.csv).

It is implemented as a self-contained vendored parser (apps/dumpcssr/cssr_parse.c) ported from claslib 082; the production CLAS decoder is left untouched. The mode requires -grid FILE.

mrtk dump -grid/--grid FILE

The CLAS grid definition is now passed directly on the command line via -grid (alias --grid), replacing the previous -k/--config file indirection.

3. Changed

  • mrtk dump grid input — the grid definition is taken via -grid instead of the -k/--config file (which existed in dump only to read the grid path). The redundant config handling is removed.

4. Tests

CLAS absolute-accuracy regression tests are added: F5 (GSI daily-coordinate) geodetic-truth checks for all CLAS PPP-RTK/VRS datasets (TSUKUBA3 / station 0627), guarding geodetic accuracy in addition to the existing consistency-vs-claslib checks (PR #227).

5. Validation

mrtk dump --parse byte-identity. The --parse output is byte-identical to upstream claslib 082 dumpcssr / ssr2osr -dump on 2026121A.l6 across all per-subtype CSVs (data fields); the only difference is an upstream version delta in one header column label (PR #230).

CLAS PPP-RTK absolute accuracy. 2D 95% ≈ 4.2–4.3 cm vs GSI F5 truth (TSUKUBA3, 2019/08/27).

Storm-day fix rate. CLAS PPP-RTK storm-day fix rate rises from 77% to 85% with the restored adaptive-iono Qp scatter-back.

Compatibility & migration

The mrtk dump grid input changes from the -k/--config file to a direct -grid FILE argument; scripts that relied on the config-file indirection for the grid path must pass -grid instead. The PPP-RTK adaptive-iono and stale-partition fixes are corrections to existing CLAS behavior and require no configuration changes.

Issues / PRs

  • Release PR #231.
  • #225 / PR #226 — restore adaptive-iono Qp scatter-back (storm 77%→85%).
  • #218 / PR #228 — global orbit/clock fallback on stale network partition.
  • PR #227 — F5 absolute-accuracy regression checks.
  • PR #230 — mrtk dump --parse byte-identity validation.

References

  • claslib 082 — dumpcssr / ssr2osr -dump per-subtype CSV format (parse_cssr_type1..12*.csv, parse_cssr_header.csv).
  • IS-QZSS-L6 — CLAS L6D Compact SSR message format.
  • GSI F5 daily coordinates — geodetic-truth reference for the CLAS absolute-accuracy regression tests.