diff --git a/CITATION.cff b/CITATION.cff index 35d5ff4b..3bc94c20 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -10,7 +10,7 @@ authors: given-names: Carles orcid: "https://orcid.org/0000-0002-9201-7007" cff-version: "1.2.0" -date-released: "2023-04-06" +date-released: "2024-01-23" doi: 10.5281/zenodo.7808152 keywords: - "Global Navigation Satellite System" @@ -26,4 +26,4 @@ repository-code: "https://github.com/gnss-sdr/geniuss-place" title: "GNSS-SDR website" type: software url: "https://gnss-sdr.org" -version: "0.0.18" +version: "0.0.19" diff --git a/_pages/index.md b/_pages/index.md index e4f84c6a..dc8c7170 100644 --- a/_pages/index.md +++ b/_pages/index.md @@ -12,7 +12,7 @@ header: url: "/build-and-install/" caption: teaser: /assets/images/logo-gnss-sdr.png -excerpt: 'An open-source Global Navigation Satellite Systems software-defined receiver.
Current release: [v0.0.18](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.18)

' +excerpt: 'An open-source Global Navigation Satellite Systems software-defined receiver.
Current release: [v0.0.19](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.19)

' feature_row: - image_path: /assets/images/fix.png alt: "Using the software-defined receiver" diff --git a/_posts/2024-01-23-gnss-sdr-v0019-released.md b/_posts/2024-01-23-gnss-sdr-v0019-released.md new file mode 100644 index 00000000..0b2133c3 --- /dev/null +++ b/_posts/2024-01-23-gnss-sdr-v0019-released.md @@ -0,0 +1,104 @@ +--- +title: "GNSS-SDR v0.0.19 released" +excerpt: "GNSS-SDR v0.0.19 has been released." +header: + teaser: /assets/images/logo-gnss-sdr-new-release.png +tags: + - news +author_profile: false +sidebar: + nav: "news" +last_modified_at: 2024-01-24T08:54:02+02:00 +--- + +This release provides bug fixes and new features. Most relevant changes with +respect to the former release are listed below: + +## Improvements in [Efficiency]({{ "/design-forces/efficiency/" | relative_url }}): + +- Fixed some performance inefficiencies detected by Coverity Scan. + +## Improvements in [Interoperability]({{ "/design-forces/interoperability/" | relative_url }}): + +- Added a new PVT configuration boolean flag (`flag_geohash_log_out`) that + enables or disables the Position Geohash tag output in INFO log files. Set to + `false` by default. +- New fields have been added to the custom output stream defined by + `monitor_pvt.proto`: + - `utc_time` (a [RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime + string), + - velocity in the local ENU frame (`vel_e`, `vel_n`, and `vel_u`), in m/s, + - the course over ground, `cog`, in degrees, + - the status of the Galileo's High Accuracy Service, `galhas_status`: + - 0: HAS data not available + - 1: HAS Corrections applied + - `geohash`, an + [encoded geographic location](https://en.wikipedia.org/wiki/Geohash). + +## Improvements in [Maintainability]({{ "/design-forces/maintainability/" | relative_url }}): + +- Removed useless casts and shadowed variables, improving source code + readability. + +## Improvements in [Portability]({{ "/design-forces/portability/" | relative_url }}): + +- Updated local `cpu_features` library to v0.9.0. +- `volk_gnsssdr`: fix syntax for Python 3.12 without breaking backward + compatibility with Python 2.7. +- Fixed linking against GNU Radio v3.10.9.1. +- Make use of new API if linking against VOLK >= 3.1. +- Fixed undefined behaviour in `volk_gnsssdr` arising from incompatibility + between complex numbers in C and C++. +- Now build system paths are not leaked when cross-compiling. +- Enabled building using macOS Sonoma and `arm64` processor architecture. + +## Improvements in [Repeatability]({{ "/design-forces/repeatability/" | relative_url }}): + +- A Kalman filter is now available in the PVT block, smoothing the outputs of a + simple Least Squares solution and improving the precision of delivered fixes. + It can be enabled by setting `PVT.enable_pvt_kf=true` in the configuration + file. The user can set values for the measurement and process noise + covariances with the following optional parameters (here with their default + values): `PVT.kf_measures_ecef_pos_sd_m=1.0`, in [m]; + `PVT.kf_measures_ecef_vel_sd_ms=0.1`, in [m/s]; + `PVT.kf_system_ecef_pos_sd_m=2.0`, in [m]; and + `PVT.kf_system_ecef_vel_sd_ms=0.5`, in [m/s]. + +## Improvements in [Scalability]({{ "/design-forces/scalability/" | relative_url }}): + +- Fixed some potential data race conditions detected by Coverity Scan. + +## Improvements in [Usability]({{ "/design-forces/usability/" | relative_url }}): + +- The Galileo E1B Reduced CED parameters usage has been set to `false` by + default. You can activate its usage with `Galileo_E1B_Telemetry_Decoder=true` + in your configuration file. +- The generation of Galileo E6B observables has been disabled if the user sets + `PVT.use_e6_for_pvt=false`, fixing the PVT computation in some multi-band + configurations. +- Fix bug in the custom binary output (`PVT.enable_monitor=true`) output rate. + Before this fix, it was outputting data every 20 ms, instead of observing the + `PVT.output_rate_ms` setting. +- Now the program exits properly if a SIGINT signal is received (_e.g._, the + user pressing Ctrl+C, or another user application sending an interruption + signal). +- The estimated CN0 value is now printed in the terminal when navigation data is + succesfully decoded. +- Fixed GPS navigation message satellite validation. +- Latitude and longitude are now reported in the terminal with six decimal + places (the sixth decimal place worths up to 0.11 m), instead of the + overkilling nine (the ninth decimal place worths up to 110 microns). + Similarly, height in meters is now reported with two decimal places instead of + three, and velocity in m/s also with two decimal places instead of three. +- Fixed the rate at which KLM, GPX, GeoJSON, and NMEA annotations are made. The + rate is now set by `PVT.output_rate_ms` (`500` ms by default), and can be + particularized by `PVT.kml_rate_ms`, `PVT.gpx_rate_ms`, `PVT.geojson_rate_ms`, + and `PVT.nmea_rate_ms`. Those values should be multiples of + `PVT.output_rate_ms`, or the least common multiple will be taken. + + +----- + + +As usual, compressed tarballs are available from [GitHub](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.19) and [Sourceforge](https://sourceforge.net/projects/gnss-sdr/). + diff --git a/_quick-start/04-my-first-position-fix.md b/_quick-start/04-my-first-position-fix.md index 37daa170..3e76301c 100644 --- a/_quick-start/04-my-first-position-fix.md +++ b/_quick-start/04-my-first-position-fix.md @@ -35,16 +35,16 @@ you should see something similar to: ```console $ gnss-sdr --version -gnss-sdr version 0.0.18 +gnss-sdr version 0.0.19 $ ``` {: class="no-copy"} -Please check that your installed version is 0.0.18 (or something like -0.0.18.git-`branchname`-`githash` if you built the code from a source code +Please check that your installed version is 0.0.19 (or something like +0.0.19.git-`branchname`-`githash` if you built the code from a source code snapshot). Older versions could not work for the example shown here. If you installed GNSS-SDR by doing `sudo apt-get install gnss-sdr` and you got a -version earlier to 0.0.18, please do `sudo apt-get remove gnss-sdr` and [build +version earlier to 0.0.19, please do `sudo apt-get remove gnss-sdr` and [build it from source]({{ "/build-and-install/#build" | relative_url }}). {: .notice--warning} @@ -201,7 +201,7 @@ You should see something similar to: ``` $ gnss-sdr --config_file=./my-first-GNSS-SDR-receiver.conf -Initializing GNSS-SDR v0.0.18 ... Please wait. +Initializing GNSS-SDR v0.0.19 ... Please wait. Logging will be done at "/tmp" Use gnss-sdr --log_dir=/path/to/log to change that. Processing file /home/your-username/work/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat, which contains 1600000000 [bytes] diff --git a/_sp-blocks/10-telemetry-decoder.md b/_sp-blocks/10-telemetry-decoder.md index 00c1d167..ee37845f 100644 --- a/_sp-blocks/10-telemetry-decoder.md +++ b/_sp-blocks/10-telemetry-decoder.md @@ -146,18 +146,18 @@ coding are applied to the Galileo message data stream: This implementation accepts the following parameters: |---------- -| **Parameter** | **Description** | **Required** | -| :-----------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: | +| **Parameter** | **Description** | **Required** | +| :-----------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: | | -------------- | -| `implementation` | `Galileo_E1B_Telemetry_Decoder` | Mandatory | -| `enable_reed_solomon` | [`true`, `false`]: If set to `true`, it enables the FEC2 Erasure Correction defined for the Galileo E1B INAV message at [OS ICD v2.0](https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OS_SIS_ICD_v2.0.pdf). It defaults to `false`. | Optional | -| `use_reduced_ced` | [`true`, `false`]: If set to `true`, it enables the use of the reduced CED parameters transmitted in Galileo E1B INAV message. It defaults to `false`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `dump` | [`true`, `false`]: If set to `true`, it enables the Telemetry Decoder internal binary data file logging (see section Binary Output down below for details). It defaults to `false`. | Optional | -| `dump_filename` | If `dump` is set to `true`, base name of the files in which internal data will be stored. It defaults to `./telemetry`, so files will be named `./telemetryN`, where `N` is the channel number (automatically added). | Optional | -| `dump_mat` | [`true`, `false`]: If `dump` is set to `true`, the binary output is converted to `.mat` format, readable from Matlab7octave and Python, at the end of the receiver execution. By default, it is set to the same value as `dump`. | Optional | -| `remove_dat` | [`true`, `false`]: If `dump=true` and `dump_mat` is not set, or set to `true`, then this parameter controls if the internal `.dat` binary file is removed after conversion to `.mat`, leaving a cleaner output if the user is not interested in the `.dat` file. By default, this parameter is set to `false`. | Optional | -| `dump_crc_stats` | [`true`, `false`]: If set to `true`, the success rate of the CRC check when decoding navigation messages is reported in a file generated at the end of the processing (or when exiting with `q` + `[Enter]`). By default, this parameter is set to `false`. | Optional | -| `dump_crc_stats_filename` | If `dump_crc_stats=true`, this parameter sets the base name of the files in which the CRC success rate is reported. It defaults to `telemetry_crc_stats`, so files named `telemetry_crc_stats_chN.txt` will be created, with `N` in `chN` being the channel number. | Optional | +| `implementation` | `Galileo_E1B_Telemetry_Decoder` | Mandatory | +| `enable_reed_solomon` | [`true`, `false`]: If set to `true`, it enables the FEC2 Erasure Correction defined for the Galileo E1B INAV message at [OS ICD v2.0](https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OS_SIS_ICD_v2.0.pdf). It defaults to `false`. | Optional | +| `use_reduced_ced` | [`true`, `false`]: If set to `true`, it enables the use of the reduced CED parameters transmitted in Galileo E1B INAV message. It defaults to `false`. This configuration parameter is available starting from GNSS-SDR v0.0.19. | Optional | +| `dump` | [`true`, `false`]: If set to `true`, it enables the Telemetry Decoder internal binary data file logging (see section Binary Output down below for details). It defaults to `false`. | Optional | +| `dump_filename` | If `dump` is set to `true`, base name of the files in which internal data will be stored. It defaults to `./telemetry`, so files will be named `./telemetryN`, where `N` is the channel number (automatically added). | Optional | +| `dump_mat` | [`true`, `false`]: If `dump` is set to `true`, the binary output is converted to `.mat` format, readable from Matlab7octave and Python, at the end of the receiver execution. By default, it is set to the same value as `dump`. | Optional | +| `remove_dat` | [`true`, `false`]: If `dump=true` and `dump_mat` is not set, or set to `true`, then this parameter controls if the internal `.dat` binary file is removed after conversion to `.mat`, leaving a cleaner output if the user is not interested in the `.dat` file. By default, this parameter is set to `false`. | Optional | +| `dump_crc_stats` | [`true`, `false`]: If set to `true`, the success rate of the CRC check when decoding navigation messages is reported in a file generated at the end of the processing (or when exiting with `q` + `[Enter]`). By default, this parameter is set to `false`. | Optional | +| `dump_crc_stats_filename` | If `dump_crc_stats=true`, this parameter sets the base name of the files in which the CRC success rate is reported. It defaults to `telemetry_crc_stats`, so files named `telemetry_crc_stats_chN.txt` will be created, with `N` in `chN` being the channel number. | Optional | | -------------- | _Telemetry Decoder implementation:_ **`Galileo_E1B_Telemetry_Decoder`**. diff --git a/_sp-blocks/12-pvt.md b/_sp-blocks/12-pvt.md index 11d1d1a2..374d6702 100644 --- a/_sp-blocks/12-pvt.md +++ b/_sp-blocks/12-pvt.md @@ -1017,45 +1017,45 @@ Java, Python, C#, Dart, Go, or Ruby, among other languages, hence enhancing The following table shows the complete list of streamed parameters: |---------- -| **Name** | **Type** | **Description** | -| :------------------------: | :--------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| **Name** | **Type** | **Description** | +| :------------------------: | :--------: | :------------------------------------------------------------------------------------------------------------------------------------------- | | -------------- | -| `tow_at_current_symbol_ms` | `uint32_t` | Time of week of the current symbol, in [ms]. | -| `week` | `uint32_t` | PVT GPS week. | -| `rx_time` | `double` | PVT GPS time. | -| `user_clk_offset` | `double` | User clock offset, in [s]. | -| `pos_x` | `double` | Position X component in ECEF, expressed in [m]. | -| `pos_y` | `double` | Position Y component in ECEF, expressed in [m]. | -| `pos_z` | `double` | Position Z component in ECEF, expressed in [m]. | -| `vel_x` | `double` | Velocity X component in ECEF, expressed in [m/s]. | -| `vel_y` | `double` | Velocity Y component in ECEF, expressed in [m/s]. | -| `vel_z` | `double` | Velocity Z component in ECEF, expressed in [m/s]. | -| `cov_xx` | `double` | Position variance in the X component, $$ \sigma_{xx}^2 $$, in [$$ m^2 $$]. | -| `cov_yy` | `double` | Position variance in the Y component, $$ \sigma_{yy}^2 $$, in [$$ m^2 $$]. | -| `cov_zz` | `double` | Position variance in the X component, $$ \sigma_{zz}^2 $$, in [$$ m^2 $$]. | -| `cov_xy` | `double` | Position XY covariance $$ \sigma_{xy}^2 $$, in [$$ m^2 $$]. | -| `cov_yz` | `double` | Position YZ covariance $$ \sigma_{yz}^2 $$, in [$$ m^2 $$]. | -| `cov_zx` | `double` | Position ZX covariance $$ \sigma_{zx}^2 $$, in [$$ m^2 $$]. | -| `latitude` | `double` | Latitude, in [deg]. Positive: North. | -| `longitude` | `double` | Longitude, in [deg]. Positive: East. | -| `height` | `double` | Height, in [m]. | -| `valid_sats` | `uint32_t` | Number of valid satellites. | -| `solution_status` | `uint32_t` | RTKLIB solution status. | -| `solution_type` | `uint32_t` | RTKLIB solution type (`0`: xyz-ecef, `1`: enu-baseline). | -| `ar_ratio_factor` | `float` | Ambiguity resolution ratio factor for validation. | -| `ar_ratio_threshold` | `float` | Ambiguity resolution ratio threshold for validation. | -| `gdop` | `double` | Geometric dilution of precision (GDOP). | -| `pdop` | `double` | Position (3D) dilution of precision (PDOP). | -| `hdop` | `double` | Horizontal dilution of precision (HDOP). | -| `vdop` | `double` | Vertical dilution of precision (VDOP). | -| `user_clk_drift_ppm` | `double` | User clock drift, in parts per million. | -| `utc_time` | `string` | PVT UTC time ([RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime string). This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | -| `vel_e` | `double` | East component of the velocity in the local ENU frame, in m/s. This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | -| `vel_n` | `double` | North component of the velocity in the local ENU frame, in m/s. This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | -| `vel_u` | `double` | Up component of the velocity in the local ENU frame, in m/s. This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | -| `cog` | `double` | Course Over Ground, in degrees. This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | -| `galhas_status` | `uint32_t` | Galileo HAS status (0: not available; 1: HAS corrections applied). This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | -| `geohash` | `string` | [Encoded geographic location](https://en.wikipedia.org/wiki/Geohash). This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | +| `tow_at_current_symbol_ms` | `uint32_t` | Time of week of the current symbol, in [ms]. | +| `week` | `uint32_t` | PVT GPS week. | +| `rx_time` | `double` | PVT GPS time. | +| `user_clk_offset` | `double` | User clock offset, in [s]. | +| `pos_x` | `double` | Position X component in ECEF, expressed in [m]. | +| `pos_y` | `double` | Position Y component in ECEF, expressed in [m]. | +| `pos_z` | `double` | Position Z component in ECEF, expressed in [m]. | +| `vel_x` | `double` | Velocity X component in ECEF, expressed in [m/s]. | +| `vel_y` | `double` | Velocity Y component in ECEF, expressed in [m/s]. | +| `vel_z` | `double` | Velocity Z component in ECEF, expressed in [m/s]. | +| `cov_xx` | `double` | Position variance in the X component, $$ \sigma_{xx}^2 $$, in [$$ m^2 $$]. | +| `cov_yy` | `double` | Position variance in the Y component, $$ \sigma_{yy}^2 $$, in [$$ m^2 $$]. | +| `cov_zz` | `double` | Position variance in the X component, $$ \sigma_{zz}^2 $$, in [$$ m^2 $$]. | +| `cov_xy` | `double` | Position XY covariance $$ \sigma_{xy}^2 $$, in [$$ m^2 $$]. | +| `cov_yz` | `double` | Position YZ covariance $$ \sigma_{yz}^2 $$, in [$$ m^2 $$]. | +| `cov_zx` | `double` | Position ZX covariance $$ \sigma_{zx}^2 $$, in [$$ m^2 $$]. | +| `latitude` | `double` | Latitude, in [deg]. Positive: North. | +| `longitude` | `double` | Longitude, in [deg]. Positive: East. | +| `height` | `double` | Height, in [m]. | +| `valid_sats` | `uint32_t` | Number of valid satellites. | +| `solution_status` | `uint32_t` | RTKLIB solution status. | +| `solution_type` | `uint32_t` | RTKLIB solution type (`0`: xyz-ecef, `1`: enu-baseline). | +| `ar_ratio_factor` | `float` | Ambiguity resolution ratio factor for validation. | +| `ar_ratio_threshold` | `float` | Ambiguity resolution ratio threshold for validation. | +| `gdop` | `double` | Geometric dilution of precision (GDOP). | +| `pdop` | `double` | Position (3D) dilution of precision (PDOP). | +| `hdop` | `double` | Horizontal dilution of precision (HDOP). | +| `vdop` | `double` | Vertical dilution of precision (VDOP). | +| `user_clk_drift_ppm` | `double` | User clock drift, in parts per million. | +| `utc_time` | `string` | PVT UTC time ([RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime string). This metric is available starting from GNSS-SDR v0.0.19. | +| `vel_e` | `double` | East component of the velocity in the local ENU frame, in m/s. This metric is available starting from GNSS-SDR v0.0.19. | +| `vel_n` | `double` | North component of the velocity in the local ENU frame, in m/s. This metric is available starting from GNSS-SDR v0.0.19. | +| `vel_u` | `double` | Up component of the velocity in the local ENU frame, in m/s. This metric is available starting from GNSS-SDR v0.0.19. | +| `cog` | `double` | Course Over Ground, in degrees. This metric is available starting from GNSS-SDR v0.0.19. | +| `galhas_status` | `uint32_t` | Galileo HAS status (0: not available; 1: HAS corrections applied). This metric is available starting from GNSS-SDR v0.0.19. | +| `geohash` | `string` | [Encoded geographic location](https://en.wikipedia.org/wiki/Geohash). This metric is available starting from GNSS-SDR v0.0.19. | | -------------- |   @@ -1172,11 +1172,11 @@ standard and precise positioning. It accepts the following parameters: | `enable_protobuf` | [`true`, `false`]: If set to `true`, the data serialization is done using [Protocol Buffers](https://protobuf.dev/), with the format defined at [`monitor_pvt.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/monitor_pvt.proto). An example of usage is the [gnss-sdr-monitor](https://github.com/acebrianjuan/gnss-sdr-monitor). If set to `false`, it uses [Boost Serialization](https://www.boost.org/doc/libs/release/libs/serialization/doc/index.html). For an example of usage of the latter, check the [gnss-sdr-pvt-monitoring-client](https://github.com/acebrianjuan/gnss-sdr-pvt-monitoring-client). This parameter defaults to `true` (Protocol Buffers is used). | Optional | | `use_e6_for_pvt` | [`true`, `false`]: If set to `false`, the PVT engine will ignore observables from Galileo E6B signals. It defaults to `true`, so observables will be used if found. This feature is present in GNSS-SDR v0.0.18 and later versions. | Optional | | `use_has_corrections` | [`true`, `false`]: If set to `false`, the PVT engine will ignore corrections from the Galileo High Accuracy Service. It defaults to `true`, so corrections will be applied if available. This feature is present in GNSS-SDR v0.0.18 and later versions. | Optional | -| `enable_pvt_kf` | [`true`, `false`]: If set to `true`, it enables the Kalman filter of the PVT solution. It defaults to `false`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `kf_measures_ecef_pos_sd_m` | Standard deviation of the position estimations, in meters. It defaults to `1.0` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `kf_measures_ecef_vel_sd_ms` | Standard deviation of the velocity estimations, in meters per second. It defaults to `0.1` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `kf_system_ecef_pos_sd_m` | Standard deviation of the dynamic system model for position, in meters. It defaults to `2.0` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `kf_system_ecef_vel_sd_ms` | Standard deviation of the dynamic system model for velocity, in meters per second. It defaults to `0.5` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | +| `enable_pvt_kf` | [`true`, `false`]: If set to `true`, it enables the Kalman filter of the PVT solution. It defaults to `false`. This configuration parameter is available starting from GNSS-SDR v0.0.19. | Optional | +| `kf_measures_ecef_pos_sd_m` | Standard deviation of the position estimations, in meters. It defaults to `1.0` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is available starting from GNSS-SDR v0.0.19. | Optional | +| `kf_measures_ecef_vel_sd_ms` | Standard deviation of the velocity estimations, in meters per second. It defaults to `0.1` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is available starting from GNSS-SDR v0.0.19. | Optional | +| `kf_system_ecef_pos_sd_m` | Standard deviation of the dynamic system model for position, in meters. It defaults to `2.0` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is available starting from GNSS-SDR v0.0.19. | Optional | +| `kf_system_ecef_vel_sd_ms` | Standard deviation of the dynamic system model for velocity, in meters per second. It defaults to `0.5` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is available starting from GNSS-SDR v0.0.19. | Optional | | `use_unhealthy_sats` | [`true`, `false`]: If set to `true`, the PVT engine will use observables from satellites flagged as unhealthy in the navigation message. It defaults to `false`, so those observables will be ignored. This feature is present in GNSS-SDR v0.0.18 and later versions. | Optional | | `show_local_time_zone` | [`true`, `false`]: If set to `true`, the time of the PVT solution displayed in the terminal is shown in the local time zone, referred to UTC. It defaults to `false`, so time is shown in UTC. This parameter does not affect time annotations in other output formats, which are always UTC. | Optional | | `rtk_trace_level` | Configure the RTKLIB trace level (`0`: off, up to `5`: max. verbosity). When set to something > `2`, the RTKLIB library become more verbose in the internal logging file. It defaults to `0` (off). | Optional | diff --git a/serviceworker.js b/serviceworker.js index 8d75f55c..66f05f13 100644 --- a/serviceworker.js +++ b/serviceworker.js @@ -1,4 +1,4 @@ -const releaseVersion = "0.0.18"; +const releaseVersion = "0.0.19"; const serviceWorkerVersion = "10"; const CACHE = `geniuss-place-${releaseVersion}-${serviceWorkerVersion}`;