Sequence DiagramScroll down (bug in rendering)relpos()zdres()Base stationRover stationloop[(niter)]calc zero diff residuals again after kalman filter updateFixed solutionsatposs() compute satellite positions, velocities and clocks1undifferenced phase/code residuals (apriori/misclosure)2.3intpres() time-interpolation of residuals4selsat() select common satellites between rover and base-station5udstate() update kalman filter states (state propagation)6undifferenced phase/code residuals (apriori/misclosure)7.8ddres() calculate double-differenced residuals9filter() kalman filter measurement update10undifferenced phase/code residuals (apriori/misclosure)11.12ddres() calc double diff residuals again after kalman filter update for float solution13valpos() validation of float solution (post-fit residual test)14valid satellite count by L115manage_amb_LAMBDA() resolve integer ambiguity by LAMBDA16undifferenced phase/code residuals (apriori/misclosure)17.18valpos() validation of fixed solution19holdamb() hold integer ambiguity if meet minfix count20relpos()zdres()Reference : https://mermaid.js.org/syntax/sequenceDiagram.html