Sylphase SDGPS
The softwaredefined GPS(/GNSS) toolkit

Type signature: (observables>solution)
Also known as kf2
Type signature: (observables>solution)
Usage:
kf2 [OPTION]...
Allowed options:
Option  Description 

help  produce help message 
outputrate arg  output solution packets at this rate (units: Hertz) (default: the highest integer divisor of the IMU sample rate that is <= 100 Hz) 
offline  don't boost state to realtime. incurs delay of OFFSET seconds 
printphaseresets  print phase resets 
ionosphericmodel arg (=zero)  use specified ionospheric delay model (default: assume ionospheric delay to always be zero) 
waitforionosphericmodel  wait for ionospheric model to be initialized to avoid transient behavior 
troposphericmodel arg (=simple)  use specified tropospheric delay model 
estimateztdfactor  estimate ZTD (zenith tropospheric delay) scale factor 
estimateionosphericdelay  estimate ionospheric delay; with dualfrequency measurements, convergence is immediate, but with singlefrequency measurements, convergence takes >= 1 hour 
estimateantennadelays  estimate differential delay between antennas 
elevationmask arg  do not use observables from SVs with an elevation below this angle relative to the local horizon (units: degrees) 
antennaelevationmask arg  do not use observables from SVs with an elevation below this angle relative to the plane defined by the antenna's "axis" vector (units: degrees) (multiantenna example: 'ANT0:20,ANT1:0') 
pignore arg (=1e9)  pvalue threshold for ignoring an SV due to a large pseudorange residual; set to 0 to never ignore 
ignoreduration arg (=1)  if pignore is triggered, ignore all of SV's measurements for this many seconds 
abortsignalsignoredfor arg  if an SV's measurements are pignored for this many seconds, abort signal tracking via the AbortSignalTracking FunctionalityCallback 
plog arg (=1e6)  pvalue threshold for logging a message about a large measurement residual; set to 0 to never log 
preset arg (=0)  pvalue threshold for triggering a reset due to large pseudorange residual; set to 0 to never reset 
pphasereset arg (=1e6)  pvalue threshold for resetting carrier phase tracking for a given SV; set to 0 to never reset 
ignoredoppler  minimize use of Doppler observable 
ignorephase  don't use phase observable 
clockwanderrate arg (=1e17)  diffusion constant for local oscillator frequency random walk (units: (s/s)^2/s) 
phasewanderrate arg (=0.02)  diffusion constant for unmodeled SV phase random walk (units: radian^2/s) 
plotresiduals  plot measurement residuals 
minsampleperiod arg (=0)  minimum width between plot points in seconds; plot points closer than this will be averaged 
xaxisunit arg (=sec)  unit of X axis (options: sec, min, hour, day) 
xaxisabsolute  plot absolute stream time on X axis instead of relative to now (implied by wait) 
detrend  <no effect> 
wait  wait for pipeline to terminate, then plot (default: live plotting) 
livehistory arg (=60)  duration of live history buffer in seconds 
titlesuffix arg  append string to plot titles 
sampletimestream arg  name of Time stream to include in "time_streams" key of solution output; will also match a unique prefix of a name; special value of "*" will select all 
includesisreincovariance arg (=0)  add given SISRE contribution to position covariance matrix (units: meters rms) Note: SISRE (rms) = sqrt((svephemeriserror value)^2 + (svclockerror value)^2) 
This is one of the most common node chains required to obtain a full pose solution using SDGPS. You should change the antennaposition
option to the XYZ position (in meters) of antenna phase center in the INS coordinate system (denoted by the axes reference on the Infix1).
Type signature: (observables>solution)
The statickf2
node is much like the kf2 node, except that it assumes that the antenna is stationary rather than dynamic. As a result, it essentially averages over the entire run time, enabling very accurate output position and time measurements.
Usage:
statickf2 [OPTION]...
Allowed options:
Option  Description 

help  produce help message 
outputrate arg  output solution packets at this rate (units: Hertz) (default: the highest integer divisor of the Kalman predict rate that is <= 100 Hz) 
predictrate arg (=100)  run Kalman predict at this rate (units: Hertz) 
printphaseresets  print phase resets 
ionosphericmodel arg (=zero)  use specified ionospheric delay model (default: assume ionospheric delay to always be zero) 
waitforionosphericmodel  wait for ionospheric model to be initialized to avoid transient behavior 
troposphericmodel arg (=simple)  use specified tropospheric delay model 
estimateztdfactor  estimate ZTD (zenith tropospheric delay) scale factor 
estimateionosphericdelay  estimate ionospheric delay; with dualfrequency measurements, convergence is immediate, but with singlefrequency measurements, convergence takes >= 1 hour 
estimateantennadelays  estimate differential delay between antennas 
elevationmask arg  do not use observables from SVs with an elevation below this angle relative to the local horizon (units: degrees) 
antennaelevationmask arg  do not use observables from SVs with an elevation below this angle relative to the plane defined by the antenna's "axis" vector (units: degrees) (multiantenna example: 'ANT0:20,ANT1:0') 
pignore arg (=1e9)  pvalue threshold for ignoring an SV due to a large pseudorange residual; set to 0 to never ignore 
ignoreduration arg (=1)  if pignore is triggered, ignore all of SV's measurements for this many seconds 
abortsignalsignoredfor arg  if an SV's measurements are pignored for this many seconds, abort signal tracking via the AbortSignalTracking FunctionalityCallback 
plog arg (=1e6)  pvalue threshold for logging a message about a large measurement residual; set to 0 to never log 
preset arg (=0)  pvalue threshold for triggering a reset due to large pseudorange residual; set to 0 to never reset 
pphasereset arg (=1e6)  pvalue threshold for resetting carrier phase tracking for a given SV; set to 0 to never reset 
ignoredoppler  minimize use of Doppler observable 
ignorephase  don't use phase observable 
clockwanderrate arg (=1e17)  diffusion constant for local oscillator frequency random walk (units: (s/s)^2/s) 
phasewanderrate arg (=0.02)  diffusion constant for unmodeled SV phase random walk (units: radian^2/s) 
plotresiduals  plot measurement residuals 
minsampleperiod arg (=0)  minimum width between plot points in seconds; plot points closer than this will be averaged 
xaxisunit arg (=sec)  unit of X axis (options: sec, min, hour, day) 
xaxisabsolute  plot absolute stream time on X axis instead of relative to now (implied by wait) 
detrend  <no effect> 
wait  wait for pipeline to terminate, then plot (default: live plotting) 
livehistory arg (=60)  duration of live history buffer in seconds 
titlesuffix arg  append string to plot titles 
positionecef arg  assume antenna is at this position instead of solving for antenna position 
sampletimestream arg  name of Time stream to include in "time_streams" key of solution output; will also match a unique prefix of a name; special value of "*" will select all 
includesisreincovariance arg (=0)  add given SISRE contribution to position covariance matrix (units: meters rms) Note: SISRE (rms) = sqrt((svephemeriserror value)^2 + (svclockerror value)^2) 