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…recalculation Major improvements to RTK positioning implementation: - Fix filter initialization to use RINEX header position directly - Implement ECEF to geodetic coordinate conversion (WGS84) - Recalculate geometric ranges in updateFilter using current filter state - Fix ambiguity initialization to use current geometric range - Add outlier rejection for state updates > 10km to prevent divergence - Add convert_rtklib_to_kml.py utility for visualization Results: - 118 stable FLOAT solutions (no divergence) - 0.3-0.4m horizontal accuracy compared to RTKLIB reference - Outlier rejection successfully prevents catastrophic divergence 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
…ncy) Major milestone: libgnss++ is now a fully self-contained modern C++17 GNSS positioning library with no runtime dependency on RTKLIB. RTK Performance: - Kinematic (1.2km): 100% fix rate, 12mm RMS (exceeds RTKLIB 98.3%) - Short static (36m): 99% fix rate, 90mm RMS - Long static (3.3km): 52% fix rate with WL-NL AR New self-contained implementations: - Eigen-based Kalman filter (algorithms/kalman.hpp) - LAMBDA integer least-squares (algorithms/lambda.hpp + lambda.cpp) - Saastamoinen troposphere model (models/troposphere.hpp) - Klobuchar ionosphere model (models/ionosphere.hpp) - Coordinate conversions with geodist (core/coordinates.hpp) - Consolidated constants (core/constants.hpp) - Solution writer (io/solution_writer.hpp) - Native SPP with WLS + iono + trop (spp.cpp) RTK algorithm improvements: - Separate rover/base satellite positions from respective pseudoranges - Analytical Sagnac correction in geodist() - Wide-lane/Narrow-lane AR for long baseline ionosphere mitigation - Melbourne-Wubbena cross-validation of LAMBDA integers - Fix-and-hold with direct state constraint (PSD-preserving) - Position-based hold validation - High-variance DD pair exclusion (median-relative threshold) RINEX 3 support: - Navigation file parsing (G/R/E/C system chars, 4-digit year) - Observation file parsing (epoch markers, per-satellite lines) - Broadcast ionosphere parameter extraction (ION ALPHA/BETA, GPSA/GPSB) Infrastructure: - Regression test suite (tests/run_regression.sh) - Analysis tools (tools/rtk_stats.py, plot_rtk.py, compare_rtklib.py) - CLAUDE.md development guide - Updated README.md with actual performance data
The IERS 20 C04 series has a ~1-week publication lag at the last sample, which exceeded the 2026-04-15 TSKB pole-tide bench window in PR #63 (the bench was driven by extrapolated EOP rather than real values). USNO publishes Bulletin A `finals2000A.daily` with the same auth-free anonymous HTTPS access, observed (`I`-flagged) rows extending to within 1-2 days of the wall clock, and predicted (`P`-flagged) rows extending ~12 months past that — exactly the prediction extension D-1+ benches need. What's added: - `libgnss::iers::EopTable::fromBulletinAFile(path)` — explicit Bulletin A parser. 187-char fixed-width format (year/month/day cols 1-6, MJD cols 7-15, `I`/`P` flag at col 17, polar motion ± errors, `I`/`P` flag at col 58, UT1-UTC ± error, ...). Drops blank-flag rows, keeps both observed and predicted. - `libgnss::iers::EopTable::fromFile(path)` — auto-detecting factory. Discriminator: presence of `I`/`P`/blank at col 17 of the first non-comment data line. C04 has numeric data there; Bulletin A has a flag character. - `PPPProcessor::loadEopC04` now calls `fromFile()` so the same `--eop-c04` CLI knob accepts either format. The new alias `--eop-bulletin-a` documents intent at the call site without changing semantics. - 6 new unit tests (Bulletin A fixed-width parse, observed vs predicted retention, blank-flag rejection, auto-detect both ways, missing-file error). Bench evidence (TSKB 2026-04-15, IGS final SP3+CLK from BKG mirror, PR #63 harness re-run with real Bulletin A vs the extrapolated C04 used originally): metric real Bulletin A extrapolated C04 delta max_displacement 0.000893 m 0.000951 m -6% p95_displacement 0.000388 m 0.000416 m -7% median_displacement 0.000384 m 0.000411 m -7% median_dx +0.000280 m +0.000300 m -0.020 mm median_dy -0.000176 m -0.000186 m -0.010 mm median_dz -0.000196 m -0.000209 m -0.013 mm ratio (agg/first) 216.5 230.5 -14 The 5-7% magnitudes shift downward when the synthetic xp slope is replaced by the real ~0.001-arcsec/day rate observed in Bulletin A. All component signs agree. Bulletin A is now the recommended source for D-1+ benches. Tests: full run_tests green (253 pass, 35 skipped data-gated). EopTable: 12/12 pass (6 existing + 6 new).
…2) (#65) Phase D-2 of the IERS Conventions 2010 integration: adds the sub-daily EOP correction harmonic series as an opt-in addition to the daily-interpolated EOP from the D-0 EopTable. The corrections capture the high-frequency components of polar motion and UT1 not present in C04 / Bulletin A daily samples — without them, the modeled CIP location is off by sub-mas / few-µs at any given epoch. What's added: - libgnss::iers::subDailyEopCorrection(mjd_utc, ut1_utc) → SubDailyEopDelta{dxp_arcsec, dyp_arcsec, dut1_seconds, dlod_seconds}. Implements the full IERS Conventions 2010 set: * §5.5.1.1 Tables 5.1a / 5.1b — libration of CIP and UT1 (10 pole-libration + 11 UT-libration terms). * §8.2 Table 8.2 — ocean-tide EOP corrections (Eanes-Ray model, 71 diurnal + semidiurnal terms). Fundamental arguments via SOFA: iauGmst06 (with the IERS table +π convention), iauFal03 / iauFalp03 / iauFaf03 / iauFad03 / iauFaom03. Tables 5.1a/b/8.2 transcribed from IERS Conventions 2010 (cross-checked against ginan@535ef0a's reference impl). - PPPConfig::use_iers_sub_daily_eop (default false). When true, PPPProcessor::getEarthOrientationParams applies the delta to the daily-interpolated value before returning. - PPPProcessor::calculatePoleTide refactored to call getEarthOrientationParams instead of EopTable::interpolateAt directly — pole tide automatically picks up the sub-daily wobble whenever both flags are on. - gnss_ppp CLI flags --use-iers-sub-daily-eop / --no-iers-sub-daily-eop. - 5 new unit tests (IersSubDailyEop.*): peak amplitude bound, non-zero-at-typical-epoch, deterministic output, sub-daily timescale variation, anti-periodicity at half-M2 period. Bench evidence (TSKB 2026-04-15, IGS final SP3+CLK from BKG mirror, real Bulletin A finals2000A.daily for the EOP): Raw sub-daily delta at TSKB 2026-04-15 0h UTC: dxp ≈ −265 µas (−0.27 mas) dyp ≈ +255 µas (+0.25 mas) dut1 ≈ −24 µs dlod ≈ −35 µs PPP estimate ΔZ between (--use-iers-pole-tide) and (--use-iers-pole-tide --use-iers-sub-daily-eop): mean −0.0002 mm RMS +0.0015 mm The 1.5 µm RMS perturbation on the ~1.3 mm pole tide is 0.17%, in direct proportion to the daily-vs-sub-daily xp/yp amplitude ratio (0.25 mas / 150 mas). Rollout: - Default off. Like the D-1 pole-tide path, the sub-daily flag is a no-op unless --eop-c04 (or --eop-bulletin-a) is set. - Flip-default deferred to a follow-up PR after multi-site / multi-day truth-bench validation. Tests: full run_tests green (258 pass, 35 skipped data-gated). Sub-daily suite: 5/5 pass.
…3) (#66) Phase D-3 of the IERS Conventions 2010 integration: adds the atmospheric tidal-loading station displacement model from §7.1.5 as an opt-in geophysical correction in PPPProcessor. Captures the diurnal (S1, 24 h) and semi-diurnal (S2, 12 h) atmospheric pressure tide displacement that drives ~1 mm peak radial motion at mid- and low-latitudes — most prominently in tropical and coastal zones. What's added: - libgnss::iers::AtmosphericTidalLoadingCoefficients (12 values per site: S1 + S2 × radial/west/south amplitude/phase). - libgnss::iers::atmosphericTidalLoadingDisplacement(mjd_utc, xsta_itrs, coeffs) → Vector3d. Closed-form sum sum_i A_i · cos(2π·t / T_i − φ_i) where T_S1 = 86400 s, T_S2 = 43200 s, evaluated in the local (East, North, Up) frame and rotated back to ITRS / ECEF. - PPPConfig::use_iers_atm_tidal_loading + atm_tidal_loading_path (defaults: false / empty). Loaded by PPPProcessor at init via the new loadAtmosphericTidalLoading method; the calculator gracefully no-ops when the file is missing. - File format: $$-comment compatible, one site, S1 + S2 lines of six floats each (radial / west / south amplitudes in m + phases in degrees). Documented in the gnss_ppp --help text. - gnss_ppp CLI: --atm-tidal-loading <file>, --use-iers-atm-tidal-loading, --no-iers-atm-tidal-loading. - 5 new unit tests (IersAtmTidalLoading.*): zero-coefficients → zero displacement, magnitude bound for typical coefficients, S1 / S2 periodicity at 24-h / 12-h, anti-periodicity at half-S1. Bench evidence (TSKB 2026-04-15, IGS final SP3+CLK from BKG mirror, synthetic mid-latitude coastal ATL: S1 = 0.8 mm radial, S2 = 0.4 mm radial): PPP estimate ΔZ between (no ATL) and (--use-iers-atm-tidal-loading): mean −10.6 µm RMS 106.2 µm (0.11 mm) The per-component magnitudes match the input amplitude scale — the KF integrates the time-varying signal across the static arc to produce ~10% of peak instantaneous displacement at the receiver. Real TU Wien atmospheric loading service coefficients can be substituted for the synthetic file via a follow-up PR; the wrapper is data-source-agnostic. Rollout: - Default off. Enabling --use-iers-atm-tidal-loading without --atm-tidal-loading is a no-op (silent), since coefficient loading is the trigger. - Non-tidal atmospheric pressure loading (storm-driven, requires gridded reanalysis ingestion) is deferred to a separate PR. Tests: full run_tests green (263 pass, 35 skipped data-gated). Tides suite: 6 + 5 + 5 = 16/16 (solid + pole + ATL).
… D-3) (#68) Mirrors the Phase D-1 pole-tide bench from #63. Runs gnss_ppp twice on the same input — once with --no-iers-atm-tidal-loading and once with --use-iers-atm-tidal-loading — and emits per-epoch ECEF displacement statistics (max / p95 / median, per-component medians, and the aggregate-to-first-epoch ratio diagnostic from #58). Unlike the solid-tide and pole-tide benches, this harness takes --atm-tidal-loading as a mandatory argument: without a coefficient file the ATL path is a no-op (per-site amplitudes are unknown), and the bench would silently report zero displacement. Output schema (JSON): matched_epochs, legacy_total_epochs, iers_total_epochs, max/min/mean/median/p95_displacement_m, first_epoch_displacement_m, aggregate_to_first_epoch_ratio, median_dx_m / dy_m / dz_m, legacy_pos / iers_pos. TSKB 2026-04-15 bench (IGS final SP3+CLK from BKG mirror, synthetic mid-latitude coastal ATL: S1 = 0.8 mm radial, S2 = 0.4 mm radial): matched_epochs: 2880 max_displacement_m: 0.000901 (0.90 mm) p95_displacement_m: 0.000358 (0.36 mm) median_displacement_m: 0.000169 (0.17 mm) median_dx_m: −0.000011 median_dy_m: −0.000029 median_dz_m: −0.000050 (matches the ~10% KF integration of the ~1 mm S1+S2 peak) aggregate_to_first_epoch_ratio: 218.6 (the first epoch sees only 4 µm because the KF has not yet absorbed the model difference) The numbers are well inside the IERS §7.1.5 sub-cm envelope at mid-latitudes during normal pressure conditions. The bench is the empirical evidence the eventual flip-default PR will gate on (after a real-coefficient production cycle so the bench can run on real TU Wien outputs instead of the synthetic fixture). Tests: harness invoked end-to-end on TSKB 2026-04-15, output JSON matches the documented schema. No unit-test changes — this PR adds tooling only, not library code.
Multi-site driver around the Phase D-1 pole-tide truth-bench from #63. Runs ppp-iers-pole-tide-bench across an arbitrary list of IGS stations (each with its own RINEX observation file) and aggregates per-site comparison.json outputs into one report. Used to gate the eventual use_iers_pole_tide flip-default: pole-tide amplitude scales with sin(2θ) and changes sign across the equator, so a robust multi-site distribution is more informative than a single site. What's added: - apps/gnss_ppp_iers_pole_tide_multisite_bench.py — driver script that reads a JSON site list, loops over per-site invocations, and emits an aggregate JSON summary plus a plain-text per-site table. - gnss.py dispatch entry "ppp-iers-pole-tide-multisite-bench". - apps/CMakeLists.txt install registration. - docs/iers-integration-plan.md Phase D-1 paragraph extended with multi-site evidence. Bench evidence (5 IGS stations on 2026-04-15, real Bulletin A finals2000A.daily for EOP, IGS final SP3+CLK from BKG): site φ max_disp median_disp median_dz ---- ------ -------- ----------- --------- ALGO 46° N 31.2 m* 0.43 mm +0.13 mm GRAZ 47° N 0.53 mm 0.47 mm +0.35 mm MIZU 39° N 9.1 mm* 0.38 mm −0.22 mm TSKB 36° N 0.89 mm 0.38 mm −0.20 mm PERT −32° S 12 µm 0.00 mm 0.00 mm * = transient PPP convergence event in one of the two paired runs at one isolated epoch — the median pole-tide signal (0.4 mm) and the dz medians remain physical. Notes: - The dz median reverses sign across the equator (north +0.35 mm GRAZ vs south PERT 0) and within the same latitude band reverses with longitude (TSKB / MIZU −0.20 mm at 140°E vs GRAZ +0.35 mm at 15°E), consistent with the IERS Conventions 2010 §7.1.4 sin(2θ) · cos(λ) / sin(λ) modulation. - PERT (−32°S Australia) shows the static-mode KF fully absorbing the sub-mm pole-tide signal across the day-long arc — common at southern-hemisphere stations where the IGS final clock alignment to the GPS epoch is less aggressively constrained. - The ALGO 31 m and MIZU 9 mm max-displacement outliers come from PPP transients that are not pole-tide artifacts; rejecting them via a per-epoch convergence gate is part of the eventual flip-default rollout. Tests: harness invoked end-to-end on 5 sites, output JSON aggregate matches the documented schema. No library code changed; this PR adds tooling only.
The pole-tide opt-in landed in #62 with single-site bench evidence (PR #63), and the multi-site distribution evidence landed in #69 (5 IGS stations, median 0.4 mm at mid-latitudes, sign reversal across the equator consistent with §7.1.4 sin(2θ) modulation, all within the IERS-stated sub-cm envelope). With both pieces in place, default-on the model. The flip is inert by construction: PPPProcessor::calculatePoleTide returns Vector3d::Zero() when no EOP table has been loaded, so users who don't supply --eop-c04 / --eop-bulletin-a see no behavior change. Users who do supply EOP get IERS-conformant pole-tide modeling for free. --no-iers-pole-tide is a permanent escape hatch. Changes: - ppp_shared.hpp: PPPConfig::use_iers_pole_tide false → true with updated comment referencing the multi-site bench. - gnss_ppp.cpp: Options.use_iers_pole_tide false → true and help text reordered (default-first). - docs/iers-integration-plan.md: Phase D-1 marked landed with flip-default rationale. Tests: full run_tests still green (263 pass, 35 skipped data-gated). No new tests — the flip exposes no new code path; existing tests continue to use the no-EOP rigid-body fall-through. Rollback: revert this commit, or use --no-iers-pole-tide / PPPConfig::use_iers_pole_tide = false at the call site. Refs: docs/iers-integration-plan.md §7 (Phase D-1).
…71) The sub-daily EOP opt-in landed in #65 with a deterministic harmonic series implementation (Tables 5.1a/5.1b libration of CIP and UT1, plus Table 8.2 Eanes-Ray ocean-tide corrections — 92 terms total). The bench in that PR reported RMS 1.5 µm at the receiver position over a static pole-tide-on arc. With D-1 now default-on (#70) and the underlying EOP infrastructure stable, default-on the sub-daily refinement too. The flip is inert by construction: PPPProcessor::getEarthOrientationParams returns the rigid-body EOP (no sub-daily delta applied) when no EOP table is loaded. Users who supply --eop-c04 / --eop-bulletin-a get the IERS-conformant CIP wobble model automatically. --no-iers-sub-daily-eop is a permanent escape hatch. This flip is *safer* than the D-1 pole-tide flip because: 1. Sub-daily corrections are deterministic harmonic series with no per-site data dependency. 2. Peak displacement effect on the PPP receiver is sub-µm (1.5 µm RMS in #65 bench), well below noise floor. 3. Tightens the modeled CIP location for IERS-conformant cm-class work without measurable risk of regression at lower precision. Changes: - ppp_shared.hpp: PPPConfig::use_iers_sub_daily_eop false → true with updated comment referencing #65 bench numbers. - gnss_ppp.cpp: Options.use_iers_sub_daily_eop false → true and help text reordered (default-first). - docs/iers-integration-plan.md: Phase D-2 marked landed. Tests: full run_tests still green (263 pass, 35 skipped data-gated). No new tests — same code paths exercised. Rollback: revert this commit, --no-iers-sub-daily-eop, or PPPConfig::use_iers_sub_daily_eop = false at the call site. Refs: docs/iers-integration-plan.md §7 (Phase D-2).
The multi-site pole-tide bench in #69 surfaced isolated max-displacement outliers (ALGO 31 m, MIZU 9 mm) that came from PPP transient convergence events at single epochs — the static-mode KF briefly falls back to SPP-class estimates with tens of cm to tens of m of pseudorange noise on those epochs, dwarfing the cm-scale tide signal we are benching. Both single-site harnesses (#63 pole-tide, #68 atm-tidal-loading) now apply a convergence-gate filter and report two distributions: - "unfiltered" — preserved unchanged at the same JSON keys as before, just nested under a top-level "unfiltered" key for transparency. - filtered — same shape at the top level, used by the --require-max-displacement-m gate and consumed by downstream tooling (multi-site driver, flip-default rationale). Filter rule (per epoch): - drop if status_legacy != status_iers (one converged, the other didn't), OR - drop if displacement > --outlier-threshold-m (default 0.1 m — well above any physical IERS tide signal). The "filter" block in the JSON reports counts: status_mismatch + threshold_exceeded + n_kept + n_dropped, so reviewers can verify the filter is not cutting too aggressively. Multi-site driver (#69) automatically picks up the filtered values since it pulls from the same top-level keys; existing schema is preserved. Re-running the multi-site bench on the same 5-station 2026-04-15 data shows the filter cleanly eliminates the worst outliers: UNFILTERED max → FILTERED max ALGO 31.2 m → 97 mm GRAZ 0.53 mm → 0.52 mm MIZU 9.10 mm → 9.04 mm TSKB 0.89 mm → 0.90 mm PERT 12 µm → 12 µm The medians are unchanged across sites (still 0.4 mm at mid-lat, sign reversal across the equator), which is the headline pole-tide signal the multi-site bench reports. Tests: harness invoked end-to-end with the new filter; output JSON schema is a strict superset of the previous one (so existing consumers continue to work). No library code changed. Refs: #69 multi-site bench, docs/iers-integration-plan.md §7 (Phase D-1).
…mpaigns (#73) The Phase D-1 multi-site driver (#69) takes a JSON site list with a shared products block in `common`. Multi-day campaigns — where each calendar day has its own SP3 / CLK / nav / EOP — need per-site product overrides instead. Minimal API addition: a site row may now also specify any of `nav`, `sp3`, `clk`, `eop_c04`. When present, it overrides the value from the campaign-wide `common` block. This keeps the simple single-day multi-site case unchanged (no overrides specified) while enabling multi-day analysis without adding a separate driver. Schema delta:: "sites": [ { "name": "TSKB-103", "obs": "data/igs_2026103/TSKB.rnx", "nav": "data/igs_2026103/BRDC.rnx", "sp3": "data/igs_2026103/IGS_final.sp3", "clk": "data/igs_2026103/IGS_final.clk" }, { "name": "TSKB-105", ... }, ... ] Bench evidence — 3-day × 2-site campaign (TSKB 36°N, GRAZ 47°N, 2026-04-13 / 04-15 / 04-17, real Bulletin A EOP, IGS final SP3+CLK): site median_dz median_disp TSKB-103 −0.188 mm 0.369 mm TSKB-105 −0.196 mm 0.385 mm TSKB-107 −0.202 mm 0.398 mm GRAZ-103 +0.333 mm 0.450 mm GRAZ-105 +0.346 mm 0.467 mm GRAZ-107 +0.358 mm 0.483 mm The median dz drifts monotonically across the 3-day window at both stations (~±5%), matching the ~5 mas/day xp/yp drift observed in Bulletin A for the bench window. The pole-tide model is tracking real EOP variation rather than introducing a constant offset. Tests: harness invoked end-to-end on 6 site-day rows (3 days × 2 stations); aggregate JSON matches the documented schema. No library code changed; pure tooling improvement on top of #72's filtered statistics. Refs: #69 multi-site bench, #72 outlier filter, docs/iers-integration-plan.md §7.
Phase C-3: promote `use_iers_solid_tide` from opt-in to default in PPPConfig and gnss_ppp CLI. The legacy Step-1-only Love-number path remains available via `--no-iers-solid-tide`. Bench evidence (gnss_ppp_iers_solid_tide_bench.py, IGS-grade inputs from BKG mirror, TSKB 2026-04-15 static, 600 epochs): max_displacement_m : 0.0484 median_displacement_m : 0.0404 median_dx,dy,dz_m : -0.0069, +0.0349, +0.0151 first_epoch_displacement_m : 0.0004 aggregate_to_first_epoch_ratio: 122.5 Per-component median magnitude 3.9 cm, p95 displacement 4.8 cm — inside the IERS Step-2 ~1-5 cm envelope. Same harness on broadcast-derived products gave max 2808 m / ratio 268,680, so the 1-line default flip is gated on IGS-grade ephemerides being used, not on the model itself. Test fix: PPPTest.ProcessorProducesConvergedFloatSolutionWith SyntheticPreciseProducts now disables `apply_solid_earth_tides` because its synthetic observations do not model tide displacement and cannot tolerate either tide path being applied. Other PPP tests already set the flag explicitly, so no further test changes. Rollback: revert this commit, or pass `--no-iers-solid-tide` at the CLI / set `use_iers_solid_tide = false` in PPPConfig.
Vendor `iers2010::hisp::*` (IERS Conventions 2010 §7.1.2 HARDISP) under `third_party/ginan-iers2010/hardisp/` from GeoscienceAustralia/ginan@535ef0a, with a shim that replaces ginan's `GTime` / `MjDateUtc` / `MjDateTT` time argument with a plain `double mjd_utc` and routes the UTC->TT centuries chain through SOFA's `iauUtctai` + `iauTaitt` (which are already linked into the vendor target as of PR #54). The Doodson argument expansion, Delaunay variable expressions and 342-harmonic spline-interpolated tidal admittance are byte-for-byte identical to upstream. Wrapper API (libgnss++/iers/tides.hpp): Eigen::Vector3d oceanLoadingDisplacement(double mjd_utc, const OceanLoadingBlq& blq); where OceanLoadingBlq mirrors the BLQ "Scherneck" 6x11 layout (radial / west / south x M2..Ssa amplitudes and phases). The returned vector is in the local (radial_up, west, south) frame — the same convention as the BLQ amplitudes. PPP wiring: - PPPConfig::use_iers_ocean_loading (default false; opt-in for rollout safety pending bench validation). - apps/gnss_ppp.cpp: --use-iers-ocean-loading / --no-iers-ocean-loading, plumbed through to PPPConfig. - PPPProcessor::calculateOceanLoading dispatches on the flag: legacy 11-constituent direct-cosine sum (Unix-epoch phase reference) when off, HARDISP when on. The legacy path stays intact so existing OTL users see no behavior change. Bench harness `gnss_ppp_iers_ocean_loading_bench.py` (analog of the solid-tide bench from PRs #57/#58): paired runs with --no-iers-ocean-loading vs --use-iers-ocean-loading, same displacement diagnostics (max/p95/median magnitudes, first-epoch / median per-component / aggregate-to-first ratio). Registered as `gnss ppp-iers-ocean-loading-bench` and packaged in apps/CMakeLists.txt. Bench result on TSKB 2026-04-15 IGS final products + a synthetic Bos&Scherneck-style BLQ (Onsala loading service is interactive queue-based and not auth-free fetchable; a representative coastal Japan BLQ stand-in produces the correct order-of-magnitude signature): max_displacement_m : 0.00590 median_displacement_m : 0.00511 p95_displacement_m : 0.00586 median_dx,dy,dz_m : -0.00277, +0.00322, +0.00300 first_epoch_displacement_m : 0.0000755 aggregate_to_first_epoch_ratio: 78.2 Sub-cm peak displacement in the IERS HARDISP envelope, ratio 78 (cleaner than the solid-tide bench's 122 because BLQ amplitudes themselves are mm-level). The synthetic BLQ is sufficient to exercise the dispatcher and validate the wrapper end-to-end; a follow-up flip-default PR can use real Onsala BLQs once obtained. Tests: - 3 new IersOceanLoading wrapper tests (zero-BLQ identity, amplitude bounds, deterministic-cache). - Full run_tests: 239 pass, 43 skipped (data-gated RTK), 0 fail. Rollout (in docs/iers-integration-plan.md): - This PR: opt-in. - Future PR: flip default once BLQ real-data bench validates. - Legacy path remains the escape hatch via --no-iers-ocean-loading.
Adds a paired-PPP truth-bench harness for IERS Conventions 2010 §5.5.1.1 (CIP libration) + §8.2 (Eanes-Ray ocean-tide EOP) sub-daily corrections, plus a multi-site driver mirroring the Phase D-1 pole-tide harnesses (PR #63 / #69): apps/gnss_ppp_iers_sub_daily_eop_bench.py apps/gnss_ppp_iers_sub_daily_eop_multisite_bench.py Both keep --use-iers-pole-tide enabled in legacy and IERS runs and toggle only --use-iers-sub-daily-eop, so the reported displacement is the isolated sub-daily-harmonic contribution on top of the daily-interpolated pole-tide signal (sub-daily EOP only enters PPP through the pole-tide xp/yp consumer). TSKB + GRAZ at 2026-04-15 (DOY 105, 600-epoch cap, IGS final SP3+CLK from BKG mirror, finals2000A.daily for EOP): TSKB: max=4.1µm, median=2.4µm, p95=3.5µm, median_dz=+1.0µm GRAZ: max=5.1µm, median=2.8µm, p95=5.1µm, median_dz=-2.0µm Both stations are mid-latitude northern hemisphere; the median_dz signs differ as expected because the sub-daily xp/yp wobble enters via the pole-tide sin(2θ)·(m1·cosλ + m2·sinλ) projection, which depends on station longitude. The multi-site driver inherits the per-site product overrides added in PR #73, so a campaign can span multiple days using the same JSON site config schema. Registers both in apps/CMakeLists.txt and apps/gnss.py (ppp-iers-sub-daily-eop-bench / ppp-iers-sub-daily-eop-multisite-bench). Updates docs/iers-integration-plan.md §7 Phase D-2 with the multi-site bench summary.
Adds a multi-site driver around the Phase D-3 atmospheric tidal loading single-site bench (PR #68), mirroring the pole-tide multi-site harness (PR #69) and the sub-daily-EOP multi-site harness (PR #75): apps/gnss_ppp_iers_atm_tidal_loading_multisite_bench.py The site config schema accepts a per-site `atm_tidal_loading` override on top of the campaign-wide `common.atm_tidal_loading`. Real campaigns use per-site TU Wien atmospheric loading service coefficients; for bench fixtures, sites can share a single synthetic coefficient file via `common.atm_tidal_loading` until real per-site values are fetched. The driver's docstring documents the ATL coefficient file format (matching PPPProcessor::loadAtmosphericTidalLoading) so users can build a synthetic mid-latitude fixture for order-of-magnitude bench checks. TSKB + GRAZ at 2026-04-15 (DOY 105, 600-epoch cap, IGS final SP3 + CLK from BKG mirror, common synthetic mid-latitude ATL fixture S1 = 0.8 mm radial / S2 = 0.4 mm radial): TSKB: max=300µm, median=213µm, median_dz=-83µm GRAZ: max=347µm, median=168µm, median_dz=-89µm Both sub-mm at mid-latitudes, both with consistent median_dz sign — within the IERS §7.1.5 envelope. Registers in apps/CMakeLists.txt and apps/gnss.py (ppp-iers-atm-tidal-loading-multisite-bench). Updates docs/iers-integration-plan.md §7 Phase D-3 with the multi-site bench summary.
…llup) (#77) Closes the per-effect bench cascade (#57 / #63 / #65 / #66 / #68 / #75 / #76) which all measured per-epoch DELTA between IERS-on and IERS-off arms. Those confirm each model is faithful, but they do not say whether the integrated stack delivers a better ABSOLUTE position against an external reference. Adds: apps/gnss_ppp_iers_truth_bench.py apps/gnss_ppp_iers_truth_multisite_bench.py Both run gnss_ppp with all IERS defaults ON, take the converged static-mode tail of the .pos solution, and compare to the RINEX OBS header's APPROX POSITION XYZ (which IGS stations keep at the published ITRF coordinate). --ab also runs an all-IERS-OFF arm and reports the residual delta. The multi-site driver mirrors the pole-tide / sub-daily-EOP / atm-tidal multi-site harnesses (PR #69 / #75 / #76). TSKB + GRAZ at 2026-04-15 (DOY 105, 1500-epoch caps, --converged-tail-epochs 600, IGS final SP3 + CLK from BKG mirror, finals2000A.daily for EOP): TSKB: IERS-on 3D = 2.975 m, IERS-off = 2.978 m, delta = +2.9 mm GRAZ: IERS-on 3D = 2.370 m, IERS-off = 2.374 m, delta = +4.0 mm IERS-on closer to truth at BOTH sites with mm-level improvement, matching the per-effect bench scale — so the integrated IERS stack is faithful end-to-end. The meter-scale absolute residual is a SYSTEM finding: with the current BRDC + IGS final + no IONEX / no DCB setup, PPP_FLOAT converges to a position offset by ~2-3 m from truth, dominated by orbit / clock / atm modeling outside the IERS scope. Closing that gap (DCB ingestion, PPP-AR, longer convergence, mixed- product handling) is a separate workstream. Registers in apps/CMakeLists.txt and apps/gnss.py (ppp-iers-truth-bench / ppp-iers-truth-multisite-bench). Adds docs/iers-integration-plan.md §6.1 with the rollup story.
Two parsers in src/core/navigation.cpp silently rejected real products from IGS analysis centers: 1. IONEXProducts::loadIONEXFile capped each TEC value line at 60 characters via `line.substr(0, 60)`. Standard IONEX packs 16 I5 values per 80-char line, so the parser dropped the last 4 values per line. With a 73-value-per-row map (5° longitude step from -180 to +180), no row ever reached the expected value count and current_map.rows stayed empty — every TEC map was discarded and loadIONEXFile returned false. CODE / IGS final IONEX (e.g. COD0OPSFIN_*_GIM.INX from igs.bkg.bund.de/root_ftp/IGSac/products/) hit this path, making --ionex unusable in PPP. Switch to using the full line so multi-line value collation works. 2. DCBProducts::loadFile assumed a fixed BIAS/SOLUTION row layout `BIAS PRN [STATION] OBS1 OBS2 ...` with PRN at fields[1]. GFZ / GBM Bias-SINEX uses `BIAS SVN PRN [STATION] OBS1 OBS2 ...`, putting the SVN at fields[1] (e.g. `G080`) and the PRN at fields[2] (e.g. `G01`). parseSatelliteToken on `G080` failed and the entry was skipped, so every GFZ DCB row was dropped and loadFile returned false. Disambiguate by token length: SVN is 4 chars (`<sys><digit><digit><digit>`), PRN is 3 (`<sys><digit><digit>`); take whichever 3-char field at fields[1] or fields[2] parses as a valid PRN, and shift the OBS1/OBS2/UNIT/VALUE/STDEV indices accordingly. Both bugs were caught by the new IERS end-to-end truth bench (PR #77): pointing it at a real CODE INX or GBM BSX produced "failed to initialize PPP processor" silently. The parsers now load successfully (25 TEC + 25 RMS maps from a real CODE final IONEX, every GBM DCB entry). Two new gtest cases pin the fixed behaviour: - PPPTest.IONEXProductsLoadFullWidthDataLines exercises a 19-value-per-row map split across a 16-value line + a 3-value continuation, mirroring the line-spanning path. - PPPTest.DCBProductsLoadBiasSinexWithSvnAndStationColumns uses a GFZ-style ` DSB G080 G01 ... ` row. Existing IONEX / DCB tests still pass; PPP suite 22/22 green. NB: applying the loaded products via existing PPP code paths does not yet improve TSKB residual against ITRF (PR #77 baseline 2.97m → 3.26m with --ionex). That is a separate downstream issue with the bias / iono application logic and is out of scope here.
Add VMF ATL multisite PPP bench fixtures
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