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Release Notes — v0.7.3

Real-time MADOCA-PPP PPP-AR/IONO — L6D wide-area ionospheric augmentation

Release date: 2026-06-29 Type: Feature (real-time MADOCA-PPP PPP-AR/IONO) Branch: release/v0.7.3

Overview

v0.7.3 wires the MADOCA-PPP L6D wide-area ionospheric augmentation (QZS PRN 200/201) into the real-time mrtk run path. With this change, ionosphere = est-stec + iono_correction = on applies the same slant-TEC (STEC) constraint in real time as it already did in post-processing.

Previously this mode was post-processing only. In real time the L6E SSR was decoded and applied, but the L6D iono augmentation was never routed into the server — so an est-stec real-time run silently degraded to plain PPP-AR.

The design is SBF-first (mosaic-G5): a single SBF stream carries the observations, the L6E SSR and the L6D ionosphere in one slot. The Septentrio SBF L6D decoder steers PRN 200/201 to the iono decoder via a dedicated return code that rtksvr feeds into nav.pppiono.

1. What's new

Real-time PPP-AR/IONO

rtksvr now decodes the L6D ionospheric frames (QZSRawL6D, PRN 200/201) into nav.pppiono and applies the wide-area STEC constraint live, mirroring update_qzssl6d() in the post-processing path.

The path is gated on:

  • correction = qzs-madoca
  • ionosphere = est-stec
  • iono_correction = on

The GPST week is anchored lazily from the first stream time (the CLAS week_ref pattern), so recorded-stream replay decodes in the correct week (#223, PR #233).

New sample configuration

  • conf/madocalib/rtkrcv_madoca_pppar_iono.toml — a real-time single-SBF MADOCA-PPP PPP-AR/IONO sample configuration, plus a real-time subsection added to the MADOCA-PPP quickstart.

2. Changed

Septentrio SBF L6D routing

The Source = 1 (L6D) branch now returns a dedicated decoder code for PRN 200/201/197 (MADOCA ionosphere), so the frame is steered to the iono decoder instead of the CLAS redirect.

The discriminator is the PRN: 200/201 carry the iono augmentation and are disjoint from CLAS (193–199) per IS-QZSS-MDC-004 Table 3-1. There is no effect on CLAS — in MADOCA mode the CLAS context is absent, and in CLAS mode PRN 200/201 were already rejected.

3. Validation

Offline decode of a mosaic-G5 SBF capture:

  • 3660 L6D iono frames → 366 complete decodes → nav.pppiono regions populated.
  • 89 L6E SSR satellites decoded from the same stream.

Live mosaic-G5 hardware (over TCP):

  • The real-time iono path fires (pppiono regions filled).
  • L6E SSR age ≈ 1 s.
  • PPP-AR/IONO reached a fixed solution (Q=1) ≈ 1 minute after start, holding continuous Q=1 at ~1.2 cm horizontal / ~3.4 cm vertical std.

The fast fix is the L6D ionospheric augmentation working as intended — the same STEC constraint that post-processing already applied, now applied live.

4. Known limitations

  • The augmentation is gated on correction = qzs-madoca + ionosphere = est-stec + iono_correction = on; outside that mode the L6D iono frames are not consumed.
  • L6D iono routing keys on PRN 200/201 (disjoint from CLAS 193–199 per IS-QZSS-MDC-004 Table 3-1); PRN 197 is included in the dedicated return code.

Compatibility & migration

No configuration changes are required for existing workflows. The real-time iono augmentation is opt-in through the est-stec + iono_correction = on gate; without it, mrtk run MADOCA-PPP behaves exactly as before. A new sample configuration (conf/madocalib/rtkrcv_madoca_pppar_iono.toml) is provided for the new mode.

Issues / PRs

  • #223 — wire the L6D iono (PRN 200/201) augmentation into the real-time mrtk run path.
  • PR #233 — implementation (real-time L6D iono decode into nav.pppiono, lazy GPST week anchor, SBF L6D routing return code, sample configuration).
  • PR #235 — release/v0.7.3.

References

  • IS-QZSS-MDC-004 — MADOCA-PPP L6E SSR and L6D wide-area ionospheric augmentation message formats; Table 3-1 PRN allocation (CLAS 193–199, iono 200/201).
  • Septentrio SBF Reference Guide — QZSRawL6D (L6D) block layout and the Source field.