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

Sun Jun 20 04:47:14 PDT 2021

Good day Daniel

There are a number of errors with RTKLIB and most of them have been
addressed by the person who maintains this  https://rtkexplorer.com/  Blog
and you will find updates there that will address your issues

Hope this helps

Sincerely

Anton

On Fri, Jun 18, 2021 at 5:45 PM Daniel Karpati <karpati.daniel92 at gmail.com>
wrote:

> 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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