%%{init: {'theme':'forest'}}%% sequenceDiagram autonumber activate relpos() relpos()->>relpos(): satposs() compute satellite positions, velocities and clocks note over zdres(): Base station relpos()->>zdres(): undifferenced phase/code residuals (apriori/misclosure) zdres()->>relpos(): . relpos()->>relpos(): intpres() time-interpolation of residuals relpos()->>relpos(): selsat() select common satellites between rover and base-station relpos()->>relpos(): udstate() update kalman filter states (state propagation) note over zdres(): Rover station loop (niter) relpos()->>zdres(): undifferenced phase/code residuals (apriori/misclosure) zdres()->>relpos(): . relpos()->>relpos(): ddres() calculate double-differenced residuals relpos()->>relpos(): filter() kalman filter measurement update end note over zdres(): calc zero diff residuals again after kalman filter update relpos()->>zdres(): undifferenced phase/code residuals (apriori/misclosure) zdres()->>relpos(): . relpos()->>relpos(): ddres() calc double diff residuals again after kalman filter update for float solution relpos()->>relpos(): valpos() validation of float solution (post-fit residual test) relpos()->>relpos(): valid satellite count by L1 relpos()->>relpos(): manage_amb_LAMBDA() resolve integer ambiguity by LAMBDA note over zdres(): Fixed solution relpos()->>zdres(): undifferenced phase/code residuals (apriori/misclosure) zdres()->>relpos(): . relpos()->>relpos(): valpos() validation of fixed solution relpos()->>relpos(): holdamb() hold integer ambiguity if meet minfix count