rtkpos: detect code changes per frequency index #518
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The code is currently limited to one bias per satellite and pair of receiver signals. If one of these signals changes then flag a slip to have the bias reinitialized. Otherwise such changes can throw off the solution. The expected observation code is initialized when first seen, and typically does not change, but the processing is now robust to signal changes. This initialization accepts different signals at the same frequency index across a system, but just one signal at a time for a particular satellite and receiver per frequency index.
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This addresses an issue noted with #502 and should unblock that path.
The code is currently limited to one bias per satellite and pair of receiver signals. If one of these signals changes then flag a slip to have the bias reinitialized. Otherwise such changes can throw off the solution.
The expected observation code is initialized when first seen, and typically does not change, but the processing is now robust to signal changes. This initialization accepts different signals at the same frequency index across a system, but just one signal at a time for a particular satellite and receiver per frequency index.