gps_pvt 0.7.0 → 0.8.0

checksums.yaml

@@ -1,7 +1,7 @@
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+  data.tar.gz: 13b461cf2ce59b7064f4c69f13969f3e758974ae6dd331bf3628a901f76b3762
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+  data.tar.gz: 251feae90231587a9e1c720ab20675084573b6ef1fc50429ad04223a1ad269eccc16d0e79cb7f4ffa547be95c1129a83e12e3edb5dc1495d20245cb1afc39693

data/README.md

@@ -32,7 +32,7 @@ An attached executable is useful. After installation, type
 
     $ gps_pvt file_or_URI(s)
 
-The format of file is automatically determined with its extension, such as .ubx will be treated as UBX format. A compressed file of .gz or .Z can be specified directly (decompression is internally performed), and URI such as http(s)://... and ftp:// is also acceptable. If you want to specify the file format, instead of file_or_URI(s), use the following arguments:
+The format of file is automatically determined with its extension, such as .ubx will be treated as UBX format. A compressed file of .gz or .Z can be specified directly (decompression is internally performed). URI such as http(s)://... and ftp://, and serial port (COMn for Windows and /dev/tty* for *NIX, version >= 0.8.0) are also acceptable. If you want to specify the file format, instead of file_or_URI(s), use the following arguments:
 
 | specification | recoginized as |
 ----|----
@@ -113,7 +113,7 @@ receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_
   # rcv_e, t_arv, usr_pos, usr_vel are temporary solution of 
   # receiver clock error [m], time of arrival [s], user position and velocity in ECEF, respectively.
   
-  weight = 1 # same as default; identical weight for each visible satellite
+  weight = 1 # quick example: identical weight for each visible satellite
   # or weight based on elevation, for example:
   # elv = GPS_PVT::Coordinate::ENU::relative_rel(GPS_PVT::Coordinate::XYZ::new(*los_neg), usr_pos).elevation
   # weight = (Math::sin(elv)/0.8)**2

data/exe/gps_pvt

@@ -11,10 +11,10 @@ As GPS_file, rinex_nav(*.YYn, *.YYh, *.YYq, *.YYg), rinex_obs(*.YYo), ubx(*.ubx)
 (YY = last two digit of year)
 File format is automatically determined based on its extention described in above parentheses.
 If you want to specify its format manually, command options like --rinex_nav=file_name are available.
-Other than --rinex_nav, --rinex_obs, --ubx, --sp3 or --antex are supported. 
+Other than --rinex_nav, --rinex_obs, -rinex_clk, --ubx, --sp3 or --antex are supported. 
 Supported RINEX versions are 2 and 3.
 A file having additional ".gz" or ".Z" extension is recognized as a compressed file.
-Major URL such as http(s)://... or ftp://... is acceptable as an input file name. 
+Major URL such as http(s)://... or ftp://..., and serial port (COMn for Windows, /dev/tty* for *NIX) is acceptable as an input file name.
 __STRING__
 
 options = []
@@ -80,6 +80,7 @@ files.collect!{|fname, ftype|
   end
   fname = proc{
     next fname if File::exist?(fname)
+    next fname if ((fname =~ Serial::SPEC) rescue false)
     if uri = URI::parse(fname) and !uri.instance_of?(URI::Generic) then
       next uri
     end

data/ext/gps_pvt/GPS/GPS_wrap.cxx

@@ -3948,10 +3948,13 @@ SWIGINTERN double const &GPS_SolverOptions_Common_Sl_double_Sg__get_residual_mas
         static const int prop_items(sizeof(res.values) / sizeof(res.values[0]));
         VALUE hook(rb_hash_lookup(hooks, key));
         if(NIL_P(hook)){break;}
+        double weight((res.prop.range_sigma > 0) 
+            ? (1. / std::pow(res.prop.range_sigma, 2)) // weight=1/(sigma^2)
+            : res.prop.range_sigma);
         VALUE values[] = {
             SWIG_From_int  (prn), // prn
             rb_ary_new_from_args(prop_items, // relative_property
-              swig::from(res.prop.weight),
+              swig::from(weight),
               swig::from(res.prop.range_corrected),
               swig::from(res.prop.range_residual),
               swig::from(res.prop.rate_relative_neg),
@@ -3983,6 +3986,9 @@ SWIGINTERN double const &GPS_SolverOptions_Common_Sl_double_Sg__get_residual_mas
                   .append(" @ [").append(std::to_string(i)).append("]"));
           }
         }
+        if(res.values[0] > 0){
+          res.values[0] = std::pow(1. / res.values[0], 0.5); // sigma=(1/weight)^0.5
+        }
       }while(false);
 
       return res.prop;
@@ -4171,6 +4177,19 @@ SWIGINTERN VALUE GPS_Solver_Sl_double_Sg__get_correction(GPS_Solver< double > co
 SWIGINTERN VALUE GPS_Solver_Sl_double_Sg__set_correction(GPS_Solver< double > *self,VALUE hash){
     return self->update_correction(true, hash);
   }
+SWIGINTERN GPS_Solver< double >::super_t::options_t GPS_Solver_Sl_double_Sg__get_options(GPS_Solver< double > const *self){
+    return self->available_options();
+  }
+SWIGINTERN GPS_Solver< double >::super_t::options_t GPS_Solver_Sl_double_Sg__set_options(GPS_Solver< double > *self,VALUE obj){
+    GPS_Solver<double>::super_t::options_t opt(self->available_options());
+
+    if(!RB_TYPE_P(obj, T_HASH)){SWIG_exception(SWIG_TypeError, "Hash is expected");}
+    SWIG_AsVal_bool (
+        rb_hash_lookup(obj, ID2SYM(rb_intern("skip_exclusion"))),
+        &opt.skip_exclusion);
+
+    return self->update_options(opt);
+  }
 SWIGINTERN unsigned int SBAS_Ephemeris_Sl_double_Sg__set_svid(SBAS_Ephemeris< double > *self,unsigned int const &v){
   return self->svid = v;
 }
@@ -17225,6 +17244,100 @@ fail:
 }
 
 
+/*
+  Document-method: GPS_PVT::GPS::Solver.options
+
+  call-seq:
+    options -> GPS_Solver< double >::super_t::options_t
+
+An instance method.
+
+*/
+SWIGINTERN VALUE
+_wrap_Solver_options(int argc, VALUE *argv, VALUE self) {
+  GPS_Solver< double > *arg1 = (GPS_Solver< double > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  GPS_Solver< double >::super_t::options_t result;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_GPS_SolverT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), Ruby_Format_TypeError( "", "GPS_Solver< double > const *","get_options", 1, self )); 
+  }
+  arg1 = reinterpret_cast< GPS_Solver< double > * >(argp1);
+  {
+    try {
+      result = GPS_Solver_Sl_double_Sg__get_options((GPS_Solver< double > const *)arg1);
+    } catch (const native_exception &e) {
+      e.regenerate();
+      SWIG_fail;
+    } catch (const std::exception& e) {
+      SWIG_exception_fail(SWIG_RuntimeError, e.what());
+    }
+  }
+  {
+    VALUE res(rb_hash_new());
+    rb_hash_aset(res, ID2SYM(rb_intern("skip_exclusion")), SWIG_From_bool  ((&result)->skip_exclusion));
+    vresult = res;
+  }
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+/*
+  Document-method: GPS_PVT::GPS::Solver.options=
+
+  call-seq:
+    options=(VALUE obj) -> GPS_Solver< double >::super_t::options_t
+
+An instance method.
+
+*/
+SWIGINTERN VALUE
+_wrap_Solver_optionse___(int argc, VALUE *argv, VALUE self) {
+  GPS_Solver< double > *arg1 = (GPS_Solver< double > *) 0 ;
+  VALUE arg2 = (VALUE) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  GPS_Solver< double >::super_t::options_t result;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_GPS_SolverT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), Ruby_Format_TypeError( "", "GPS_Solver< double > *","set_options", 1, self )); 
+  }
+  arg1 = reinterpret_cast< GPS_Solver< double > * >(argp1);
+  arg2 = argv[0];
+  {
+    try {
+      result = GPS_Solver_Sl_double_Sg__set_options(arg1,arg2);
+    } catch (const native_exception &e) {
+      e.regenerate();
+      SWIG_fail;
+    } catch (const std::exception& e) {
+      SWIG_exception_fail(SWIG_RuntimeError, e.what());
+    }
+  }
+  {
+    VALUE res(rb_hash_new());
+    rb_hash_aset(res, ID2SYM(rb_intern("skip_exclusion")), SWIG_From_bool  ((&result)->skip_exclusion));
+    vresult = res;
+  }
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
 SWIGINTERN void
 free_GPS_Solver_Sl_double_Sg_(void *self) {
     GPS_Solver< double > *arg1 = (GPS_Solver< double > *)self;
@@ -26933,6 +27046,8 @@ SWIGEXPORT void Init_GPS(void) {
   rb_define_method(SwigClassSolver.klass, "solve", VALUEFUNC(_wrap_Solver_solve), -1);
   rb_define_method(SwigClassSolver.klass, "correction", VALUEFUNC(_wrap_Solver_correction), -1);
   rb_define_method(SwigClassSolver.klass, "correction=", VALUEFUNC(_wrap_Solver_correctione___), -1);
+  rb_define_method(SwigClassSolver.klass, "options", VALUEFUNC(_wrap_Solver_options), -1);
+  rb_define_method(SwigClassSolver.klass, "options=", VALUEFUNC(_wrap_Solver_optionse___), -1);
   SwigClassSolver.mark = (void (*)(void *)) GPS_Solver<double>::mark;
   SwigClassSolver.destroy = (void (*)(void *)) free_GPS_Solver_Sl_double_Sg_;
   SwigClassSolver.trackObjects = 0;

data/ext/ninja-scan-light/tool/navigation/GLONASS.h

@@ -814,11 +814,8 @@ if(std::abs(TARGET - t.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
             static const float_t F_T_table[15]; ///< @see Table 4.4
 
             static const float_t F_T_value(const u8_t &F_T_){
-              if(F_T_ >= (sizeof(F_T_table) / sizeof(F_T_table[0]))){
-                return -1; // not used
-              }else{
-                return F_T_table[F_T_];
-              }
+              return GPS_SpaceNode<float_t>::SatelliteProperties::Ephemeris::URA_meter(
+                  F_T_, F_T_table);
             }
 
             static const uint_t P1_value(const u8_t &P1_){
@@ -1315,12 +1312,8 @@ typename GLONASS_SpaceNode<FloatT>::u8_t GLONASS_SpaceNode<FloatT>::SatellitePro
   if(F_T <= 0){ // invalid value
     return sizeof(raw_t::F_T_table) / sizeof(raw_t::F_T_table[0]);
   }
-  u8_t res(0);
-  while(res < (sizeof(raw_t::F_T_table) / sizeof(raw_t::F_T_table[0]))){
-    if(F_T <= raw_t::F_T_table[res]){break;}
-    ++res;
-  }
-  return res;
+  return (u8_t)GPS_SpaceNode<float_t>::SatelliteProperties::Ephemeris::URA_index(
+      F_T, raw_t::F_T_table);
 }
 
 template <class FloatT>

data/ext/ninja-scan-light/tool/navigation/GLONASS_Solver.h

@@ -131,11 +131,15 @@ class GLONASS_SinglePositioning : public SolverBaseT {
           static float_t clock_error_dot(const void *ptr, const gps_time_t &t_tx) {
             return sat(ptr).clock_error_dot(t_tx);
           }
+          static float_t range_sigma(const void *ptr, const gps_time_t &t_tx) {
+            return sat(ptr).ephemeris().F_T;
+          }
         };
         satellite_t res = {
-            &(it_sat->second), &(it_sat->second),
+            &(it_sat->second), &(it_sat->second), // position, time
             impl_t::position, impl_t::velocity,
-            impl_t::clock_error, impl_t::clock_error_dot};
+            impl_t::clock_error, impl_t::clock_error_dot,
+            &(it_sat->second), impl_t::range_sigma, NULL}; // error model
         return res;
       }
       satellites_t(const space_node_t &sn)
@@ -292,21 +296,29 @@ class GLONASS_SinglePositioning : public SolverBaseT {
         res.range_residual += range_error.value[range_error_t::IONOSPHERIC];
       }
 
-      // Setup weight
-      if(std::abs(res.range_residual) > _options.residual_mask){
-        // If residual is too big, gently exclude it by decreasing its weight.
-        res.weight = 1E-8;
-      }else{
+      // Setup range standard deviation, whose reciprocal square is used as weight
+      res.range_sigma = 1E+4; // sufficiently big value, 1E4 [m]
+      do{
+        // If residual is too big, gently exclude it.
+        if(std::abs(res.range_residual) > _options.residual_mask){break;}
 
         float_t elv(relative_pos.elevation());
         if(elv < _options.elevation_mask){
-          res.weight = 0; // exclude it when elevation is less than threshold
-        }else{
-          // elevation weight based on "GPS���p�v���O���~���O" @see GPS_Solver.h
-          res.weight = std::pow(sin(elv)/0.8, 2);
-          if(res.weight < 1E-3){res.weight = 1E-3;}
+          res.range_sigma = 0; // exclude it when elevation is less than threshold
+          break;
         }
-      }
+
+        res.range_sigma = sat.range_sigma(t_tx);
+
+        /* elevation weight based on "GPS���p�v���O���~���O"
+         * elevation[deg] :   90    53    45    30    15    10    5
+         * sf_sigma(k)    :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
+         * weight(k^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
+         */
+        static const float_t max_sf(10);
+        static const float_t elv_limit(std::asin(0.8/max_sf)); // limit
+        res.range_sigma *= (elv > elv_limit) ? (0.8 / sin(elv)) : max_sf;
+      }while(false);
 
       res.range_corrected = range;
 

data/ext/ninja-scan-light/tool/navigation/GPS.h

@@ -990,7 +990,7 @@ static s ## bits ## _t name(const InputT *buf){ \
           
           // Subframe.1
           uint_t WN;          ///< Week number
-          int_t URA;          ///< User range accuracy (index)
+          float_t URA;          ///< User range accuracy (m)
           uint_t SV_health;   ///< Health status
           int_t iodc;         ///< Issue of clock data
           float_t t_GD;       ///< Group delay (s)
@@ -1061,22 +1061,29 @@ static s ## bits ## _t name(const InputT *buf){ \
             return !((delta_t >= 0) && (delta_t < transmission_interval));
           }
           
-          static const float_t URA_limits[];
-          static const int URA_MAX_INDEX;
+          static const float_t URA_limits[15];
 
-          static float_t URA_meter(const int_t &index){
+          template <std::size_t N>
+          static float_t URA_meter(const int_t &index, const float_t (&table)[N]){
             if(index < 0){return -1;}
-            return (index < URA_MAX_INDEX)
-                ? URA_limits[index]
-                : URA_limits[URA_MAX_INDEX - 1] * 2;
+            return (index < N)
+                ? table[index]
+                : table[N - 1] * 2;
+          }
+          inline static float_t URA_meter(const int_t &index){
+            return URA_meter(index, URA_limits);
           }
 
-          static int_t URA_index(const float_t &meter){
+          template <std::size_t N>
+          static int_t URA_index(const float_t &meter, const float_t (&table)[N]){
             if(meter < 0){return -1;}
-            for(int i(0); i < URA_MAX_INDEX; ++i){
-              if(meter <= URA_limits[i]){return i;}
+            for(std::size_t i(0); i < N; ++i){
+              if(meter <= table[i]){return i;}
             }
-            return URA_MAX_INDEX;
+            return N;
+          }
+          inline static int_t URA_index(const float_t &meter){
+            return URA_index(meter, URA_limits);
           }
 
           float_t eccentric_anomaly(const float_t &period_from_toe) const {
@@ -1399,7 +1406,7 @@ static s ## bits ## _t name(const InputT *buf){ \
               converted.svid = svid;
               
               converted.WN = WN;
-              converted.URA = URA;
+              converted.URA = URA_meter(URA);
               converted.SV_health = SV_health;
               converted.iodc = iodc;
               CONVERT(t_GD);
@@ -1438,7 +1445,7 @@ static s ## bits ## _t name(const InputT *buf){ \
               svid = eph.svid;
 
               WN = eph.WN;
-              URA = eph.URA;
+              URA = URA_index(eph.URA);
               SV_health = eph.SV_health;
               iodc = eph.iodc;
               CONVERT(t_GD);
@@ -1475,7 +1482,7 @@ static s ## bits ## _t name(const InputT *buf){ \
           bool is_equivalent(const Ephemeris &eph) const {
             do{
               if(WN != eph.WN){break;}
-              if(URA != eph.URA){break;}
+              if(URA_index(URA) != URA_index(eph.URA)){break;}
               if(SV_health != eph.SV_health){break;}
 
 #define CHECK(TARGET) \
@@ -2478,10 +2485,6 @@ const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::SatellitePr
   6144.00,
 };
 
-template <class FloatT>
-const int GPS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::URA_MAX_INDEX
-    = sizeof(URA_limits) / sizeof(URA_limits[0]);
-
 #ifdef POW2_ALREADY_DEFINED
 #undef POW2_ALREADY_DEFINED
 #else

data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h

@@ -155,11 +155,15 @@ class GPS_SinglePositioning : public SolverBaseT {
           static float_t clock_error_dot(const void *ptr, const gps_time_t &t_tx) {
             return sat(ptr).clock_error_dot(t_tx);
           }
+          static float_t range_sigma(const void *ptr, const gps_time_t &t_tx) {
+            return sat(ptr).ephemeris().URA;
+          }
         };
         satellite_t res = {
-            &(it_sat->second), &(it_sat->second),
+            &(it_sat->second), &(it_sat->second), // position, clock
             impl_t::position, impl_t::velocity,
-            impl_t::clock_error, impl_t::clock_error_dot};
+            impl_t::clock_error, impl_t::clock_error_dot,
+            &(it_sat->second), impl_t::range_sigma, NULL}; // error model
         return res;
       }
       satellites_t(const space_node_t &sn)
@@ -248,7 +252,7 @@ class GPS_SinglePositioning : public SolverBaseT {
       float_t &los_neg_x;
       float_t &los_neg_y;
       float_t &los_neg_z;
-      float_t &weight;
+      float_t &range_sigma;
     };
 
     /**
@@ -258,8 +262,8 @@ class GPS_SinglePositioning : public SolverBaseT {
      * @param range "corrected" pseudo range subtracted by (temporal solution of) receiver clock error in meter
      * @param time_arrival time when signal arrive at receiver
      * @param usr_pos (temporal solution of) user position
-     * @param residual calculated residual with line of site vector, and weight;
-     * When weight is equal to or less than zero, the calculated results should not be used.
+     * @param residual calculated residual with line of site vector, and pseudorange standard deviation (sigma);
+     * When sigma is equal to or less than zero, the calculated results should not be used.
      * @param error Some correction can be overwritten. If its unknown_flag is zero,
      * corrections will be skipped as possible. @see range_errors_t
      * @return (float_t) corrected range just including delay, and excluding receiver/satellite error.
@@ -281,7 +285,8 @@ class GPS_SinglePositioning : public SolverBaseT {
 
       // Calculate satellite position
       float_t dt_transit(range / c);
-      xyz_t sat_pos(sat.position(time_arrival - dt_transit, dt_transit));
+      gps_time_t time_depature(time_arrival - dt_transit);
+      xyz_t sat_pos(sat.position(time_depature, dt_transit));
       float_t geometric_range(usr_pos.xyz.dist(sat_pos));
 
       // Calculate residual
@@ -305,25 +310,30 @@ class GPS_SinglePositioning : public SolverBaseT {
           ? tropospheric_correction(time_arrival, usr_pos, relative_pos)
           : error.value[range_error_t::TROPOSPHERIC];
 
-      // Setup weight
-      if(std::abs(residual.residual) > _options.residual_mask){
-        // If residual is too big, gently exclude it by decreasing its weight.
-        residual.weight = 1E-8;
-      }else{
+      // Setup range standard deviation, whose reciprocal square is used as weight
+      residual.range_sigma = 1E+4; // sufficiently big value, 1E4 [m]
+      do{
+        // If residual is too big, gently exclude it.
+        if(std::abs(residual.residual) > _options.residual_mask){break;}
 
         float_t elv(relative_pos.elevation());
         if(elv < _options.elevation_mask){
-          residual.weight = 0; // exclude it when elevation is less than threshold
-        }else{
-          /* elevation weight based on "GPS���p�v���O���~���O"
-           * elevation[deg] :   90    53    45    30    15    10    5
-           * sigma(s)       :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
-           * weight(s^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
-           */
-          residual.weight = std::pow(sin(elv)/0.8, 2); // weight=1 @ elv=53[deg]
-          if(residual.weight < 1E-3){residual.weight = 1E-3;}
+          residual.range_sigma = 0; // exclude it when elevation is less than threshold
+          break;
         }
-      }
+
+        residual.range_sigma = sat.range_sigma(time_depature);
+
+        /* elevation weight based on "GPS���p�v���O���~���O"
+         * elevation[deg] :   90    53    45    30    15    10    5
+         * sf_sigma(k)    :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
+         * weight(k^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
+         */
+        static const float_t max_sf(10);
+        static const float_t elv_limit(std::asin(0.8/max_sf)); // limit
+        residual.range_sigma *= (elv > elv_limit) ? (0.8 / sin(elv)) : max_sf;
+      }while(false);
+
 
       return range;
     }
@@ -396,16 +406,16 @@ class GPS_SinglePositioning : public SolverBaseT {
       float_t range;
       range_error_t range_error;
       if(!this->range(measurement, range, &range_error)){
-        return res; // If no range entry, return with weight = 0
+        return res; // If no range entry, return with range_sigma = 0
       }
 
       satellite_t sat(select_satellite(prn, time_arrival));
-      if(!sat.is_available()){return res;} // If satellite is unavailable, return with weight = 0
+      if(!sat.is_available()){return res;} // If satellite is unavailable, return with range_sigma = 0
 
       residual_t residual = {
         res.range_residual,
         res.los_neg[0], res.los_neg[1], res.los_neg[2],
-        res.weight,
+        res.range_sigma,
       };
 
       res.range_corrected = range_corrected(
@@ -414,8 +424,15 @@ class GPS_SinglePositioning : public SolverBaseT {
       res.rate_relative_neg = rate_relative_neg(sat, res.range_corrected, time_arrival, usr_vel,
           res.los_neg[0], res.los_neg[1], res.los_neg[2]);
 
-      return res;
+#if 0
+      // TODO consider case when standard deviation of pseudorange measurement is provided by receiver
+      if(!this->range_sigma(measurement, res.range_sigma)){
+        // If receiver's range variance is not provided
+        res.range_sigma = 1E0; // TODO range error variance [m]
+      }
+#endif
 
+      return res;
     }
 
     /**

data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h

@@ -232,6 +232,9 @@ struct GPS_Solver_Base {
     xyz_t (*impl_velocity)(const void *, const gps_time_t &, const float_t &);
     float_t (*impl_clock_error)(const void *, const gps_time_t &);
     float_t (*impl_clock_error_dot)(const void *, const gps_time_t &);
+    const void *impl_error; ///< pointer to actual implementation of error model
+    float_t (*impl_range_sigma)(const void *, const gps_time_t &);
+    float_t (*impl_rate_sigma)(const void *, const gps_time_t &);
     inline bool is_available() const {
       return (impl_xyz != NULL) && (impl_t != NULL);
     }
@@ -267,6 +270,26 @@ struct GPS_Solver_Base {
     inline float_t clock_error_dot(const gps_time_t &t_tx) const {
       return impl_clock_error_dot(impl_t, t_tx);
     }
+    /**
+     * Return expected user range accuracy (URA) in standard deviation (1-sigma)
+     * at the transmission time.
+     * @param t_tx transmission time
+     */
+    inline float_t range_sigma(const gps_time_t &t_tx) const {
+      return impl_range_sigma
+          ? impl_range_sigma(impl_error, t_tx)
+          : 3.5; // 7.0 [m] of 95% (2-sigma) URE in Sec. 3.4.1 of April 2020 GPS SPS PS;
+    }
+    /**
+     * Return expected user range rate accuracy (URRA) in standard deviation (1-sigma)
+     * at the transmission time.
+     * @param t_tx transmission time
+     */
+    inline float_t rate_sigma(const gps_time_t &t_tx) const {
+      return impl_rate_sigma
+          ? impl_rate_sigma(impl_error, t_tx)
+          : 0.003; // 0.006 [m/s] of 95% (2-sigma) URRE in Sec. 3.4.2 of April 2020 GPS SPS PS
+    }
     static const satellite_t &unavailable() {
       struct impl_t {
         static xyz_t v3(const void *, const gps_time_t &, const float_t &){
@@ -276,7 +299,9 @@ struct GPS_Solver_Base {
           return float_t(0);
         }
       };
-      static const satellite_t res = {NULL, NULL, impl_t::v3, impl_t::v3, impl_t::v, impl_t::v};
+      static const satellite_t res = {
+          NULL, NULL, impl_t::v3, impl_t::v3, impl_t::v, impl_t::v,
+          NULL, NULL, NULL};
       return res;
     }
   };
@@ -359,7 +384,7 @@ struct GPS_Solver_Base {
   }
 
   struct relative_property_t {
-    float_t weight; ///< How useful this information is. square value is required; thus, only positive value activates the other values.
+    float_t range_sigma; ///< Standard deviation of pseudorange; If zero or negative, other values are invalid.
     float_t range_corrected; ///< corrected range just including delay, and excluding receiver/satellite error
     float_t range_residual; ///< residual range
     float_t rate_relative_neg; /// relative rate
@@ -474,12 +499,7 @@ struct GPS_Solver_Base {
       using super_t::reset;
       void reset(const int &prn) {set(prn, false);}
       std::vector<int> excluded() const {
-        std::vector<int> res(super_t::indices_one());
-        for(std::vector<int>::iterator it(res.begin()), it_end(res.end());
-            it != it_end; ++it){
-          *it += prn_begin;
-        }
-        return res;
+        return super_t::indices_one(prn_begin);
       }
     };
   };
@@ -519,6 +539,9 @@ protected:
      * @param G_ original design matrix
      * @param rotation_matrix 3 by 3 rotation matrix
      * @return transformed design matrix G'
+     * @see Eq.(3) and (10) in https://gssc.esa.int/navipedia/index.php/Positioning_Error,
+     * however, be careful that their R is used as both range error covariance in Eq.(1)
+     * and rotation matrix in Eq.(3).
      */
     static matrix_t rotate_G(const MatrixT &G_, const matrix_t &rotation_matrix){
       unsigned int r(G_.rows()), c(G_.columns()); // Normally c=4
@@ -534,17 +557,15 @@ protected:
     }
 
     /**
-     * Calculate C matrix, which is required to obtain DOP
-     * C = G^t * W * G
-     *
+     * Calculate C matrix, where C = G^t * G to be used for DOP calculation
      * @return C matrix
      */
     matrix_t C() const {
-      return (G.transpose() * W * G).inverse();
+      return (G.transpose() * G).inverse();
     }
     /**
-     * Transform coordinate of matrix C, which will be used to calculate HDOP/VDOP
-     * C' = (G * R^t)^t W * (G * R^t) = R * G^t * W * G * R^t = R * C * R^t,
+     * Transform coordinate of matrix C
+     * C' = (G * R^t)^t * (G * R^t) = R * G^t * G * R^t = R * C * R^t,
      * where R is a rotation matrix, for example, ECEF to ENU.
      *
      * @param rotation_matrix 3 by 3 rotation matrix
@@ -809,14 +830,14 @@ protected:
             res.receiver_error, time_arrival,
             res.user_position, zero));
 
-        if(prop.weight <= 0){
+        if(prop.range_sigma <= 0){
           continue; // intentionally excluded satellite
         }else{
           res.used_satellite_mask.set(it->prn);
         }
 
         if(coarse_estimation){
-          prop.weight = 1;
+          prop.range_sigma = 1;
         }else{
           idx_rate_rel.push_back(std::make_pair(i_measurement, prop.rate_relative_neg));
         }
@@ -825,7 +846,7 @@ protected:
         geomat.G(i_row, 0) = prop.los_neg[0];
         geomat.G(i_row, 1) = prop.los_neg[1];
         geomat.G(i_row, 2) = prop.los_neg[2];
-        geomat.W(i_row, i_row) = prop.weight;
+        geomat.W(i_row, i_row) = 1. / std::pow(prop.range_sigma, 2);
 
         ++i_row;
       }