[FOSS-GPS] NVS08C-CSM GPS+GLO chi-square error kinematic sol

[Daniel Karpati]

Dear Community!

We have a project which uses rtklib 2.4.2. It is a c++ codebase created in
2014.
Every time we run our old original executables, we encounter weird
behavior. Our position occasionally drops 500-1000m away from its real
position then it just simply stays there, some minutes later another
"teleport". As far as I know the code is built with the following flags:
-ENAGLO -ENAGAL -ENACMP -ENAQZS. I found some old nvs binr file in our
archive (2014). When replaying them everything look good. Has there been
any significant change since then?

Now I can recompile the codebase with  msvc 2019 (v142). Same results.

Today I tried rtknavi just to ensure its not a coding failure in our code.
Version 2.4.2 gives errors when GLONASS is enabled, but its perfect when
only GPS is enabled. However version 2.4.3 b34 seems good with GLONASS,
also with GLONASS+GPS.
Should I upgrade to v2.4.3 b34?

The error I get when using 2.4.2: point pos error (chi-square error nv=18
vv=295165.6 cs=34.5). I dont get other error just this multiple times. No
position at all visible. I see that observation data is present and 6-7 GLO
sats for both rover side and base side.
receivers ID (nvs nv08c-csm): CSM23 02.06 22/04/13
base and rover receivers are identical

As you can see the receivers are quite old (V3.1 maybe) with old firmware.
Should I upgrade?

2.4.2 config:
RTKNAVI options (2021/06/16 21:40:12, v.2.4.2)

pos1-posmode =kinematic #
(0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
pos1-frequency =l1+l2 #
(1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7)
pos1-soltype =forward # (0:forward,1:backward,2:combined)
pos1-elmask =0 # (deg)
pos1-snrmask_r =off # (0:off,1:on)
pos1-snrmask_b =off # (0:off,1:on)
pos1-snrmask_L1 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L2 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L5 =0,0,0,0,0,0,0,0,0
pos1-dynamics =off # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on)
pos1-ionoopt =off #
(0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9:vtec_ef,10:gtec)
pos1-tropopt =off # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
pos1-sateph =brdc #
(0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
pos1-posopt1 =off # (0:off,1:on)
pos1-posopt2 =off # (0:off,1:on)
pos1-posopt3 =off # (0:off,1:on)
pos1-posopt4 =off # (0:off,1:on)
pos1-posopt5 =off # (0:off,1:on)
pos1-exclsats = # (prn ...)
pos1-navsys =4 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
pos2-armode =fix-and-hold #
(0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode =on # (0:off,1:on,2:autocal)
pos2-arthres =3
pos2-arlockcnt =5
pos2-arelmask =0 # (deg)
pos2-arminfix =10
pos2-elmaskhold =0 # (deg)
pos2-aroutcnt =5
pos2-maxage =30 # (s)
pos2-syncsol =off # (0:off,1:on)
pos2-slipthres =0.05 # (m)
pos2-rejionno =30 # (m)
pos2-rejgdop =30
pos2-niter =1
pos2-baselen =0 # (m)
pos2-basesig =0 # (m)
out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)
out-outhead =on # (0:off,1:on)
out-outopt =on # (0:off,1:on)
out-timesys =gpst # (0:gpst,1:utc,2:jst)
out-timeform =hms # (0:tow,1:hms)
out-timendec =9
out-degform =dms # (0:deg,1:dms)
out-fieldsep =
out-height =ellipsoidal # (0:ellipsoidal,1:geodetic)
out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
out-solstatic =all # (0:all,1:single)
out-nmeaintv1 =0 # (s)
out-nmeaintv2 =0 # (s)
out-outstat =residual # (0:off,1:state,2:residual)
stats-eratio1 =100
stats-eratio2 =100
stats-errphase =0.003 # (m)
stats-errphaseel =0.003 # (m)
stats-errphasebl =0 # (m/10km)
stats-errdoppler =10 # (Hz)
stats-stdbias =30 # (m)
stats-stdiono =0.03 # (m)
stats-stdtrop =0.3 # (m)
stats-prnaccelh =1 # (m/s^2)
stats-prnaccelv =10 # (m/s^2)
stats-prnbias =0.0001 # (m)
stats-prniono =0.001 # (m)
stats-prntrop =0.0001 # (m)
stats-clkstab =5e-12 # (s/s)
ant1-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant1-pos1 =0 # (deg|m)
ant1-pos2 =0 # (deg|m)
ant1-pos3 =0 # (m|m)
ant1-anttype =
ant1-antdele =0 # (m)
ant1-antdeln =0 # (m)
ant1-antdelu =0 # (m)
ant2-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant2-pos1 =47.4781059999999 # (deg|m)
ant2-pos2 =19.04182 # (deg|m)
ant2-pos3 =135.000000000403 # (m|m)
ant2-anttype =
ant2-antdele =0 # (m)
ant2-antdeln =0 # (m)
ant2-antdelu =0 # (m)
misc-timeinterp =off # (0:off,1:on)
misc-sbasatsel =0 # (0:all)
misc-rnxopt1 =
misc-rnxopt2 =
file-satantfile =
file-rcvantfile =
file-staposfile =
file-geoidfile =
file-ionofile =
file-dcbfile =
file-eopfile =
file-blqfile =
file-tempdir =
file-geexefile =
file-solstatfile =
file-tracefile =

inpstr1-type =serial #
(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr2-type =serial #
(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr3-type =off #
(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr1-path =COM3:115200:8⭕1:off
inpstr2-path =COM4:115200:8⭕1:off
inpstr3-path =
inpstr1-format =10 #
(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr2-format =10 #
(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr3-format =10 #
(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr2-nmeareq =off # (0:off,1:latlon,2:single)
inpstr2-nmealat =0 # (deg)
inpstr2-nmealon =0 # (deg)
outstr1-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr2-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr1-path =C:\Users\ADMIN\Downloads\rtklib_2.4.2\out\sol1_3::T
outstr2-path =C:\Users\ADMIN\Downloads\rtklib_2.4.2\out\sol2_3::T
outstr1-format =llh # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format =llh # (0:llh,1:xyz,2:enu,3:nmea)
logstr1-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr2-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr1-path =C:\Users\ADMIN\Downloads\rtklib_2.4.2\log\Rover_3::T
logstr2-path =C:\Users\ADMIN\Downloads\rtklib_2.4.2\log\Base_3::T
logstr3-path =
misc-svrcycle =10 # (ms)
misc-timeout =10000 # (ms)
misc-reconnect =10000 # (ms)
misc-nmeacycle =1000 # (ms)
misc-buffsize =32768 # (bytes)
misc-navmsgsel =all # (0:all,1:rover,2:base,3:corr)
misc-proxyaddr =
misc-fswapmargin =30 # (s)


Daniel K.
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