From 4d0eacaf33c520ff743fb2e5879225d51c9cdbc6 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 13 Nov 2023 12:41:53 +0100 Subject: [PATCH] Update URLs --- _design-forces/05-interoperability.md | 10 +- _design-forces/08-portability.md | 2 +- _docs/02-overview.md | 2 +- _geniuss-place/01-design-forces.md | 2 +- _pages/publications.md | 10 +- ...2-01-google-summer-code-2013-ideas-list.md | 2 +- ...5-esa-summer-code-space-2013-ideas-list.md | 2 +- _posts/2018-06-07-gnss-sdr-v0010-released.md | 2 +- ...oring-software-receiver-internal-status.md | 38 +-- _quick-start/02-requirements.md | 2 +- _sp-blocks/11-observables.md | 22 +- _sp-blocks/12-pvt.md | 242 +++++++++--------- _sp-blocks/13-monitor.md | 16 +- 13 files changed, 176 insertions(+), 176 deletions(-) diff --git a/_design-forces/05-interoperability.md b/_design-forces/05-interoperability.md index dcd2daae..999a0556 100644 --- a/_design-forces/05-interoperability.md +++ b/_design-forces/05-interoperability.md @@ -130,7 +130,7 @@ More details in version 1.0 of the The software receiver should deliver the results of the processing in several standard output formats: -- GIS-oriented formats: [KML](https://www.ogc.org/standards/kml), +- GIS-oriented formats: [KML](https://www.ogc.org/standard/kml), [GeoJSON](https://geojson.org/), [SHP](https://en.wikipedia.org/wiki/Shapefile). @@ -139,7 +139,7 @@ standard output formats: KML is an open standard officially named the OpenGIS KML Encoding Standard (OGC KML), and it is maintained by the Open Geospatial Consortium, Inc. (OGC). KML files can be displayed in geobrowsers such as - [Google Earth](https://www.google.com/earth/), + [Google Earth](https://earth.google.com/web/), [Marble](https://marble.kde.org), [osgEarth](http://osgearth.org), or used with the [NASA World Wind SDK for Java](https://worldwind.arc.nasa.gov/java/). {: .notice--info} @@ -250,7 +250,7 @@ standard output formats: (usually with other data unknown to the original receiver, such as better models of the atmospheric conditions at the time of measurement). RINEX files can be used by software packages such as - [GNSSTk](https://github.com/SGL-UT/gnsstk), [RTKLIB](http://www.rtklib.com/), + [GNSSTk](https://github.com/SGL-UT/gnsstk), [RTKLIB](https://www.rtklib.com/), and [gLAB](https://gage.upc.edu/en/learning-materials/software-tools/glab/), among many others. {: .notice--info} @@ -268,7 +268,7 @@ standard output formats: doing that without breaking existing external applications still using the old format. An example of an open-source software library that fulfills these requirements is - [Protocol Buffers](https://developers.google.com/protocol-buffers/), which + [Protocol Buffers](https://protobuf.dev/), which allows reading data from many different languages such as C++, C#, Dart, Go, Java, Javascript, Ruby, Objective-C, PHP, and Python. @@ -303,7 +303,7 @@ GNSS receiver: host computer executing the software-defined GNSS receiver. - Number of supported combinations of data collection topologies and formats. - Number of supported standard output formats. - - GIS formats: [KML](https://www.ogc.org/standards/kml), + - GIS formats: [KML](https://www.ogc.org/standard/kml), [GeoJSON](https://geojson.org/), [Shapefile](https://en.wikipedia.org/wiki/Shapefile), others. - Application-specific formats: NMEA diff --git a/_design-forces/08-portability.md b/_design-forces/08-portability.md index 9f7a82ef..9846c030 100644 --- a/_design-forces/08-portability.md +++ b/_design-forces/08-portability.md @@ -174,7 +174,7 @@ executables are generated from the source code through three kinds of tools: Objective-C (`clang`) and C++ (`clang++`), while other external projects allow the compilation of Ruby, Python, Haskell, Java, D, PHP, Pure, Lua, and a number of other languages. - - Those included in [Microsoft Visual Studio](https://www.visualstudio.com/), + - Those included in [Microsoft Visual Studio](https://visualstudio.microsoft.com/), such as the Microsoft C++ Compiler (MSVC) provided by [Microsoft Visual C++](https://en.wikipedia.org/wiki/Microsoft_Visual_C%2B%2B); `vbc.exe`, the Visual Basic .NET compiler; and `csc.exe`, the C# compiler, diff --git a/_docs/02-overview.md b/_docs/02-overview.md index 291f68a9..aa02015e 100644 --- a/_docs/02-overview.md +++ b/_docs/02-overview.md @@ -57,7 +57,7 @@ processing output can be stored in Receiver Independent Exchange Format ([RINEX](https://en.wikipedia.org/wiki/RINEX)), used by most geodetic processing software for GNSS, or transmitted as RTCM 3.2 messages through a TCP/IP server in real-time. Navigation results are stored in -[KML](https://www.ogc.org/standards/kml) and +[KML](https://www.ogc.org/standard/kml) and [GeoJSON](https://geojson.org/) formats. ![Block diagram](https://raw.githubusercontent.com/gnss-sdr/gnss-sdr/next/docs/doxygen/images/GeneralBlockDiagram.png){:width="800px"}{: .align-center .invert-colors} diff --git a/_geniuss-place/01-design-forces.md b/_geniuss-place/01-design-forces.md index 56370dba..e927aa4f 100644 --- a/_geniuss-place/01-design-forces.md +++ b/_geniuss-place/01-design-forces.md @@ -85,7 +85,7 @@ checkpoints: ## References -[^Fernandez16]: C. Fernández-Prades, J. Arribas, P. Closas, [_Assessment of software-defined GNSS receivers_](https://zenodo.org/record/266524), in Proc. of Navitec 2016, ESA-ESTEC, Noordwijk, The Netherlands, 14-16 Dec. 2016, pp. 1-9. +[^Fernandez16]: C. Fernández-Prades, J. Arribas, P. Closas, [_Assessment of software-defined GNSS receivers_](https://zenodo.org/records/266524), in Proc. of Navitec 2016, ESA-ESTEC, Noordwijk, The Netherlands, 14-16 Dec. 2016, pp. 1-9. [^Teasley95]: J. B. S. Teasley, [_Summary of the initial GPS Test Standards Document: ION STD-101_](https://www.ion.org/publications/abstract.cfm?articleID=2506), in Proc. of 8th International Technical Meeting of the Satellite Division of The Institute of Navigation, Palm Springs, CA, Sep. 1995, pp. 1645–1653. diff --git a/_pages/publications.md b/_pages/publications.md index 9ee3c256..fbccaa07 100644 --- a/_pages/publications.md +++ b/_pages/publications.md @@ -782,7 +782,7 @@ Portland, OR, Sept. 2017, pp. 1204-1228.
[BibTeX] [Online] [ ] - [PDF ] + [PDF ] 

@inproceedings{ Arribas17a,
@@ -812,7 +812,7 @@ Portland, OR, Sept. 2017, pp. 3796-3815.
     [BibTeX]
     [Online]
     [ ]
-    [PDF  ]
+    [PDF  ]
     [Slides  ]
     

     

@@ -840,7 +840,7 @@ note    = { {doi}: 10.33012/2017.15234}
 ESA/ESTEC, Noordwijk, The Netherlands, Dec. 14-16, 2016, pp. 1-9.
     

     [BibTeX]
-    [Online  ]
+    [Online  ]
     [ ]
     

     

@@ -945,7 +945,7 @@ Portland, OR, Sept. 2016, pp. 44-61.

  Best Presentation Award (Session A1: Advances in GNSS Software-defined Receivers)
     

     [BibTeX]
-    [Online   ] [ ]
+    [Online   ] [ ]
     [Slides  ]
     

     

@@ -1051,7 +1051,7 @@ month   = {Jan./Feb. }
 ESA-ESTEC, Noordwijk, The Netherlands, 2014, pp. 1-3.
     

     [BibTeX]
-    [Online]
+    [Online]
     

     

     
@inproceedings{ Fabra14,
diff --git a/_posts/2013-02-01-google-summer-code-2013-ideas-list.md b/_posts/2013-02-01-google-summer-code-2013-ideas-list.md
index de600023..af333b45 100644
--- a/_posts/2013-02-01-google-summer-code-2013-ideas-list.md
+++ b/_posts/2013-02-01-google-summer-code-2013-ideas-list.md
@@ -19,7 +19,7 @@ Some commercial, industrial and scientific applications of GNSS signals and data
 
 As a matter of fact, the landscape of GNSS is going to change rapidly in the following years (modernization of GPS and GLONASS, advent of Galileo and COMPASS). A bunch of new signals will be readily available for navigation, providing means to determine position and time with an unforeseen degree of performance. Nevertheless, the multi-constellation, multi-frequency approach poses several technological challenges. In that sense, the flexibility provided by the software-defined radio approach (and, specifically, the GNU Radio framework) appears as an ideal environment for rapid prototyping and testing of new receiver architectures.
 
-GNSS-SDR implements a generic architecture of a GNSS software-defined receiver and already provides a working implementation of a whole processing chain of a GPS L1 C/A receiver, from the output of a RF front-end to the computation of position, velocity and time. It also provides outputs in standard formats ([KML](https://www.ogc.org/standards/kml), [RINEX](https://en.wikipedia.org/wiki/RINEX)). The software allows an arbitrary number of different algorithms and implementations for each required processing block functionality (signal conditioning, acquisition, tracking and so on, see the general overview), allowing the definition of completely customized receiver flowgraph by choosing one of the existing alternatives for each block. This modular nature of the receiver allows the definition of clearly-specified, scoped activities (interface to different front-ends, new synchronization algorithms, interfaces to other sources of information, a multi-frequency / multi-constellation approach, the addition of new cool features, etc.), that can be completed in a summer time frame.
+GNSS-SDR implements a generic architecture of a GNSS software-defined receiver and already provides a working implementation of a whole processing chain of a GPS L1 C/A receiver, from the output of a RF front-end to the computation of position, velocity and time. It also provides outputs in standard formats ([KML](https://www.ogc.org/standard/kml), [RINEX](https://en.wikipedia.org/wiki/RINEX)). The software allows an arbitrary number of different algorithms and implementations for each required processing block functionality (signal conditioning, acquisition, tracking and so on, see the general overview), allowing the definition of completely customized receiver flowgraph by choosing one of the existing alternatives for each block. This modular nature of the receiver allows the definition of clearly-specified, scoped activities (interface to different front-ends, new synchronization algorithms, interfaces to other sources of information, a multi-frequency / multi-constellation approach, the addition of new cool features, etc.), that can be completed in a summer time frame.
 
 This year, GNSS-SDR is serving as a mentoring organization for [Google Summer of Code](https://www.google-melange.com/archive/gsoc/2013) (also known as GSoC), a global program that offers students stipends to write code for open source projects. In order to participate in the program, you must be a student. Google defines a student as an individual enrolled in or accepted into an accredited institution including (but not necessarily limited to) colleges, universities, masters programs, PhD programs and undergraduate programs. You should be prepared, upon request, to provide Google with transcripts or other documentation from your accredited institution as proof of enrollment or admission status. Computer Science does not need to be your field of study in order to participate in the program. You may be enrolled as a full-time or part-time student, and must be 18 years of age or older on or before May 27, 2013 to be eligible to participate in Google Summer of Code in 2013.
 
diff --git a/_posts/2013-05-05-esa-summer-code-space-2013-ideas-list.md b/_posts/2013-05-05-esa-summer-code-space-2013-ideas-list.md
index c187d2f8..53e9ea6e 100644
--- a/_posts/2013-05-05-esa-summer-code-space-2013-ideas-list.md
+++ b/_posts/2013-05-05-esa-summer-code-space-2013-ideas-list.md
@@ -75,7 +75,7 @@ Currently, the GNSS-SDR project focuses the main development activities to enhan
 
 However, to obtain the final GNSS product, typically composed of the Position, Velocity and Time (PVT) solution, there is still much work to do. GNSS-SDR provides an internal satellite orbital model that uses the broadcast ephemeris to estimate the satellite positions. It is complemented with a basic Least Squares (LS) solver that obtains the PVT solution.
 
-In the open-source community, there are several libraries that provide high quality implementations of advanced positioning algorithms such as differential positioning, Precise Point Positioning (PPP) and the use of both Ground and Satellite Based Augmentation System (GBAS and SBAS) data. The most representative libraries are the well-known GPS Toolkit ([GPSTk](https://github.com/SGL-UT/GPSTk)), sponsored by Space and Geophysics Laboratory, within the Applied Research Laboratories at the University of Texas at Austin, and the [RTKLIB](http://www.rtklib.com/) suite maintained by Tomoji Takasu. Both libraries are mainly oriented to use GNSS observable data in post-processing mode using Receiver INdependent EXchange (RINEX) files and other binary manufacturer proprietary formats.
+In the open-source community, there are several libraries that provide high quality implementations of advanced positioning algorithms such as differential positioning, Precise Point Positioning (PPP) and the use of both Ground and Satellite Based Augmentation System (GBAS and SBAS) data. The most representative libraries are the well-known GPS Toolkit ([GPSTk](https://github.com/SGL-UT/GPSTk)), sponsored by Space and Geophysics Laboratory, within the Applied Research Laboratories at the University of Texas at Austin, and the [RTKLIB](https://www.rtklib.com/) suite maintained by Tomoji Takasu. Both libraries are mainly oriented to use GNSS observable data in post-processing mode using Receiver INdependent EXchange (RINEX) files and other binary manufacturer proprietary formats.
 
 The goal of this project is the integration of both the GPSTk and the RTKLIB PVT solvers in the GNSS-SDR receiver at observable level. The positioning libraries will be tightly coupled with the signal processing blocks in order to operate in real-time.
 
diff --git a/_posts/2018-06-07-gnss-sdr-v0010-released.md b/_posts/2018-06-07-gnss-sdr-v0010-released.md
index 9a444234..1cba5b44 100644
--- a/_posts/2018-06-07-gnss-sdr-v0010-released.md
+++ b/_posts/2018-06-07-gnss-sdr-v0010-released.md
@@ -16,7 +16,7 @@ This release has several improvements in different dimensions, addition of new f
 
 ## Improvements in [Accuracy]({{ "/design-forces/accuracy/" | relative_url }}):
 
- * Part of the [RTKLIB](http://www.rtklib.com/) core library has been integrated into GNSS-SDR. There is now a single PVT block implementation which makes use of RTKLIB to deliver PVT solutions, including Single and PPP navigation modes.
+ * Part of the [RTKLIB](https://www.rtklib.com/) core library has been integrated into GNSS-SDR. There is now a single PVT block implementation which makes use of RTKLIB to deliver PVT solutions, including Single and PPP navigation modes.
  * Fixed CN0 estimation for other correlation times than 1 ms.
  * Improved computation of tracking parameters and GNSS observables.
  * Other minor bug fixes.
diff --git a/_posts/2019-01-15-monitoring-software-receiver-internal-status.md b/_posts/2019-01-15-monitoring-software-receiver-internal-status.md
index 4c54ba09..d4e3e28d 100644
--- a/_posts/2019-01-15-monitoring-software-receiver-internal-status.md
+++ b/_posts/2019-01-15-monitoring-software-receiver-internal-status.md
@@ -26,7 +26,7 @@ Since the introduction of the [Monitor]({{ "/docs/sp-blocks/monitor/" | relative
 
 In this article, we are going to learn how to create a minimal monitoring client application written in C/C++ that will print and update the PRN, CN0, and Doppler frequency shift for each channel on a terminal window while the receiver is running with the Monitor block activated.
 
-The Monitor block implements this mechanism using the binary serialization format provided by [Protocol Buffers](https://developers.google.com/protocol-buffers/) and defined in the [`gnss_synchro.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/gnss_synchro.proto) file. The networking functions are taken from the [Boost.Asio](https://www.boost.org/doc/libs/release/doc/html/boost_asio.html) library.
+The Monitor block implements this mechanism using the binary serialization format provided by [Protocol Buffers](https://protobuf.dev/) and defined in the [`gnss_synchro.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/gnss_synchro.proto) file. The networking functions are taken from the [Boost.Asio](https://www.boost.org/doc/libs/release/doc/html/boost_asio.html) library.
 
 The following diagram can help us to better understand how this block works.
 
@@ -108,28 +108,28 @@ private:
 We are going to use 6 member variables:
 
 |----------
-|  **Variable Name**  | **Description** |
-|:-:|:--|    
-|--------------
-| `io_service` | Abstraction of the operating system interfaces. (See [io_service](https://www.boost.org/doc/libs/release/doc/html/boost_asio/reference/io_service.html)). |
-| `socket` | The UDP socket. (See [ip::udp::socket](https://www.boost.org/doc/libs/release/doc/html/boost_asio/reference/ip__udp/socket.html)). |
-| `error` | Operating system-specific errors. (See [boost::system::error_code](https://www.boost.org/doc/libs/release/libs/system/doc/html/system.html#reference)). |
-| `endpoint` | Endpoint that will be associated with the UDP socket. (See [ip::udp::endpoint](https://www.boost.org/doc/libs/release/doc/html/boost_asio/reference/ip__udp/endpoint.html)). |
-| `stocks` | Object of the class gnss_sdr::Observables, which is a collection of gnss_sdr::GnssSynchro objects received from the socket. |
-| `channels` | Map container of gnss_sdr::GnssSynchro objects indexed by their `channel_id`. |
-|----------
+| **Variable Name** | **Description**                                                                                                                                                              |
+| :---------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+|  --------------   |
+|   `io_service`    | Abstraction of the operating system interfaces. (See [io_service](https://www.boost.org/doc/libs/release/doc/html/boost_asio/reference/io_service.html)).                    |
+|     `socket`      | The UDP socket. (See [ip::udp::socket](https://www.boost.org/doc/libs/release/doc/html/boost_asio/reference/ip__udp/socket.html)).                                           |
+|      `error`      | Operating system-specific errors. (See [boost::system::error_code](https://www.boost.org/doc/libs/release/libs/system/doc/html/system.html#reference)).                      |
+|    `endpoint`     | Endpoint that will be associated with the UDP socket. (See [ip::udp::endpoint](https://www.boost.org/doc/libs/release/doc/html/boost_asio/reference/ip__udp/endpoint.html)). |
+|     `stocks`      | Object of the class gnss_sdr::Observables, which is a collection of gnss_sdr::GnssSynchro objects received from the socket.                                                  |
+|    `channels`     | Map container of gnss_sdr::GnssSynchro objects indexed by their `channel_id`.                                                                                                |
+|    ----------     |
 
 and 4 member functions:
 
 |----------
-|  **Function Name**  | **Description** |
-|:-:|:--|    
-|--------------
-| `Gnss_Synchro_Udp_Source` | Constructor. Opens and binds the `socket` to the `endpoint`. |
-| `read_gnss_synchro` | Fills the `stocks` collection with the latest deserialized gnss_sdr::GnssSynchro objects. |
-| `populate_channels` | This function inserts the latest gnss_sdr::GnssSynchro objects from the `stocks` collection into the `channels` map container. |
-| `print_table` | Prints the contents of the `channels` map in a table on the terminal screen. |
-|----------
+|     **Function Name**     | **Description**                                                                                                                |
+| :-----------------------: | :----------------------------------------------------------------------------------------------------------------------------- |
+|      --------------       |
+| `Gnss_Synchro_Udp_Source` | Constructor. Opens and binds the `socket` to the `endpoint`.                                                                   |
+|    `read_gnss_synchro`    | Fills the `stocks` collection with the latest deserialized gnss_sdr::GnssSynchro objects.                                      |
+|    `populate_channels`    | This function inserts the latest gnss_sdr::GnssSynchro objects from the `stocks` collection into the `channels` map container. |
+|       `print_table`       | Prints the contents of the `channels` map in a table on the terminal screen.                                                   |
+|        ----------         |
 
 Now let's go ahead and write the functions in the implementation file: `gnss_synchro_udp_source.cc`
 
diff --git a/_quick-start/02-requirements.md b/_quick-start/02-requirements.md
index db86410a..2637984a 100644
--- a/_quick-start/02-requirements.md
+++ b/_quick-start/02-requirements.md
@@ -134,7 +134,7 @@ command-line flags processing.
 * [matio](https://github.com/tbeu/matio), a MATLAB MAT file I/O library.
 * [PugiXML](https://github.com/zeux/pugixml), a light-weight, simple and fast
 XML parser for C++.
-* [Protocol Buffers](https://developers.google.com/protocol-buffers/), Google's
+* [Protocol Buffers](https://protobuf.dev/), Google's
 language-neutral, platform-neutral, extensible mechanism for serializing
 structured data.
 * A library implementing some basic SSL functions, such as
diff --git a/_sp-blocks/11-observables.md b/_sp-blocks/11-observables.md
index 678e285e..9a06533f 100644
--- a/_sp-blocks/11-observables.md
+++ b/_sp-blocks/11-observables.md
@@ -331,16 +331,16 @@ single- or multi-constellation) receiver configurations.**
 It accepts the following parameters:
 
 |----------
-|  **Parameter**  |  **Description** | **Required** |
-|:-:|:--|:-:|
-|--------------
-| `implementation` | `Hybrid_Observables` | Mandatory |
-| `enable_carrier_smoothing` |  [`true`, `false`]: If set to `true`, it enables [carrier smoothing](https://insidegnss.com/wp-content/uploads/2018/01/julyaug15-SOLUTIONS.pdf) of code pseudoranges. It defaults to `false`. | Optional |
-| `smoothing_factor` |  If `enable_carrier_smoothing` is set to `true`, this parameter sets the smoothing factor $$ M $$ (see equation ($$ \ref{eq:smoothing} $$)). It defaults to `200`. | Optional |
-| `dump` |  [`true`, `false`]: If set to `true`, it enables the Observables internal binary data file logging. Storage in .mat files readable from Matlab, Octave and Python is available starting from GNSS-SDR v0.0.10, see below. It defaults to `false`. | Optional |
-| `dump_filename` |  If `dump` is set to `true`, name of the file in which internal data will be stored. This parameter accepts either a relative or an absolute path; if there are non-existing specified folders, they will be created. It defaults to `./observables.dat` | Optional |
-| `dump_mat` | [`true`, `false`]. If `dump=true`, when the receiver exits it can convert the ".dat" files stored by this block into ".mat" files directly readable from Matlab and Octave. If the receiver has processed more than a few minutes of signal, this conversion can take a long time. In systems with limited resources, you can turn off this conversion by setting this parameter to `false`. It defaults to `true`, so ".mat" files are generated by default if `dump=true`. | Optional |
-|--------------
+|       **Parameter**        | **Description**                                                                                                                                                                                                                                                                                                                                                                                                                                                              | **Required** |
+| :------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: |
+|       --------------       |
+|      `implementation`      | `Hybrid_Observables`                                                                                                                                                                                                                                                                                                                                                                                                                                                         |  Mandatory   |
+| `enable_carrier_smoothing` | [`true`, `false`]: If set to `true`, it enables [carrier smoothing](https://insidegnss.com/wp-content/uploads/2018/01/julyaug15-SOLUTIONS.pdf) of code pseudoranges. It defaults to `false`.                                                                                                                                                                                                                                                                                 |   Optional   |
+|     `smoothing_factor`     | If `enable_carrier_smoothing` is set to `true`, this parameter sets the smoothing factor $$ M $$ (see equation ($$ \ref{eq:smoothing} $$)). It defaults to `200`.                                                                                                                                                                                                                                                                                                            |   Optional   |
+|           `dump`           | [`true`, `false`]: If set to `true`, it enables the Observables internal binary data file logging. Storage in .mat files readable from Matlab, Octave and Python is available starting from GNSS-SDR v0.0.10, see below. It defaults to `false`.                                                                                                                                                                                                                             |   Optional   |
+|      `dump_filename`       | If `dump` is set to `true`, name of the file in which internal data will be stored. This parameter accepts either a relative or an absolute path; if there are non-existing specified folders, they will be created. It defaults to `./observables.dat`                                                                                                                                                                                                                      |   Optional   |
+|         `dump_mat`         | [`true`, `false`]. If `dump=true`, when the receiver exits it can convert the ".dat" files stored by this block into ".mat" files directly readable from Matlab and Octave. If the receiver has processed more than a few minutes of signal, this conversion can take a long time. In systems with limited resources, you can turn off this conversion by setting this parameter to `false`. It defaults to `true`, so ".mat" files are generated by default if `dump=true`. |   Optional   |
+|       --------------       |
 
   _Observables implementation:_ **`Hybrid_Observables`**.
   {: style="text-align: center;"}
@@ -396,7 +396,7 @@ Observables.dump=true
 
 [^Doppler]: C. Doppler, [Über das farbige Licht der Doppelsterne und einiger anderer Gestirne des Himmels](https://archive.org/details/ueberdasfarbigel00doppuoft) (On the colored light of the double stars and certain other stars of the heavens), Abh. Kniglich Bhmischen Ges. Wiss., vol. 2, pp. 467–482, 1842.
 
-[^RTKLIBManual]: T. Takasu, [RTKLIB ver. 2.4.2 Manual](http://www.rtklib.com/prog/manual_2.4.2.pdf). April 29, 2013.
+[^RTKLIBManual]: T. Takasu, [RTKLIB ver. 2.4.2 Manual](https://www.rtklib.com/prog/manual_2.4.2.pdf). April 29, 2013.
 
 [^LoPresti15]: M. Petovello, L. Lo Presti, M. Visintin, [Can you list all the properties of the carrier-smoothing filter?](https://insidegnss.com/wp-content/uploads/2018/01/julyaug15-SOLUTIONS.pdf), Inside GNSS, vol. 10, no. 4, pp. 32–37, Jul./Aug. 2015.
 
diff --git a/_sp-blocks/12-pvt.md b/_sp-blocks/12-pvt.md
index c8efcdf7..a1971517 100644
--- a/_sp-blocks/12-pvt.md
+++ b/_sp-blocks/12-pvt.md
@@ -38,7 +38,7 @@ availability of *a priori* or externally-provided information, many positioning
 strategies and algorithms can be devised. It follows a description of the
 positioning modes available at the [`RTKLIB_PVT`](#implementation-rtklib_pvt)
 implementation, mostly extracted from the excellent [RTKLIB
-manual](http://www.rtklib.com/prog/manual_2.4.2.pdf).
+manual](https://www.rtklib.com/prog/manual_2.4.2.pdf).
 
 
 ## Single Point Positioning
@@ -953,7 +953,7 @@ software provides such output data in standard formats:
 
 ## KML, GeoJSON, GPX
 For Geographic Information Systems, map representation and Earth browsers:
-[KML](https://www.ogc.org/standards/kml),
+[KML](https://www.ogc.org/standard/kml),
 [GeoJSON](https://geojson.org/), and [GPX](https://www.topografix.com/gpx.asp)
 files are generated by default, upon the computation of the first position fix.
 
@@ -1007,7 +1007,7 @@ for real-time monitoring of the PVT block and its outputs. By default, the data
 is streamed to the localhost address on port 1234 UDP. These settings can be
 changed with `PVT.monitor_client_addresses` and `PVT.monitor_udp_port`. The
 streamed data members (28 in total) are serialized via [Protocol
-Buffers](https://developers.google.com/protocol-buffers/) into a format defined
+Buffers](https://protobuf.dev/) into a format defined
 at
 [`monitor_pvt.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/monitor_pvt.proto).
 This allows other applications to easily read those messages, either using C++,
@@ -1017,45 +1017,45 @@ Java, Python, C#, Dart, Go, or Ruby, among other languages, hence enhancing
 The following table shows the complete list of streamed parameters:
 
 |----------
-|          **Name**          |  **Type**  | **Description**                                                                                                                                                                                                                                                         |
-| :------------------------: | :--------: | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+|          **Name**          |  **Type**  | **Description**                                                                                                                                                                                                                                                      |
+| :------------------------: | :--------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 |       --------------       |
-| `tow_at_current_symbol_ms` | `uint32_t` | Time of week of the current symbol, in [ms].                                                                                                                                                                                                                            |
-|           `week`           | `uint32_t` | PVT GPS week.                                                                                                                                                                                                                                                           |
-|         `rx_time`          |  `double`  | PVT GPS time.                                                                                                                                                                                                                                                           |
-|     `user_clk_offset`      |  `double`  | User clock offset, in [s].                                                                                                                                                                                                                                              |
-|          `pos_x`           |  `double`  | Position X component in ECEF, expressed in [m].                                                                                                                                                                                                                         |
-|          `pos_y`           |  `double`  | Position Y component in ECEF, expressed in [m].                                                                                                                                                                                                                         |
-|          `pos_z`           |  `double`  | Position Z component in ECEF, expressed in [m].                                                                                                                                                                                                                         |
-|          `vel_x`           |  `double`  | Velocity X component in ECEF, expressed in [m/s].                                                                                                                                                                                                                       |
-|          `vel_y`           |  `double`  | Velocity Y component in ECEF, expressed in [m/s].                                                                                                                                                                                                                       |
-|          `vel_z`           |  `double`  | Velocity Z component in ECEF, expressed in [m/s].                                                                                                                                                                                                                       |
-|          `cov_xx`          |  `double`  | Position variance in the X component, $$ \sigma_{xx}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                              |
-|          `cov_yy`          |  `double`  | Position variance in the Y component, $$ \sigma_{yy}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                              |
-|          `cov_zz`          |  `double`  | Position variance in the X component, $$ \sigma_{zz}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                              |
-|          `cov_xy`          |  `double`  | Position XY covariance $$ \sigma_{xy}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                                             |
-|          `cov_yz`          |  `double`  | Position YZ covariance $$ \sigma_{yz}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                                             |
-|          `cov_zx`          |  `double`  | Position ZX covariance $$ \sigma_{zx}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                                             |
-|         `latitude`         |  `double`  | Latitude, in [deg]. Positive: North.                                                                                                                                                                                                                                    |
-|        `longitude`         |  `double`  | Longitude, in [deg]. Positive: East.                                                                                                                                                                                                                                    |
-|          `height`          |  `double`  | Height, in [m].                                                                                                                                                                                                                                                         |
-|        `valid_sats`        | `uint32_t` | Number of valid satellites.                                                                                                                                                                                                                                             |
-|     `solution_status`      | `uint32_t` | RTKLIB solution status.                                                                                                                                                                                                                                                 |
-|      `solution_type`       | `uint32_t` | RTKLIB solution type (`0`: xyz-ecef, `1`: enu-baseline).                                                                                                                                                                                                                |
-|     `ar_ratio_factor`      |  `float`   | Ambiguity resolution ratio factor for validation.                                                                                                                                                                                                                       |
-|    `ar_ratio_threshold`    |  `float`   | Ambiguity resolution ratio threshold for validation.                                                                                                                                                                                                                    |
-|           `gdop`           |  `double`  | Geometric dilution of precision (GDOP).                                                                                                                                                                                                                                 |
-|           `pdop`           |  `double`  | Position (3D) dilution of precision (PDOP).                                                                                                                                                                                                                             |
-|           `hdop`           |  `double`  | Horizontal dilution of precision (HDOP).                                                                                                                                                                                                                                |
-|           `vdop`           |  `double`  | Vertical dilution of precision (VDOP).                                                                                                                                                                                                                                  |
-|    `user_clk_drift_ppm`    |  `double`  | User clock drift, in parts per million.                                                                                                                                                                                                                                 |
+| `tow_at_current_symbol_ms` | `uint32_t` | Time of week of the current symbol, in [ms].                                                                                                                                                                                                                         |
+|           `week`           | `uint32_t` | PVT GPS week.                                                                                                                                                                                                                                                        |
+|         `rx_time`          |  `double`  | PVT GPS time.                                                                                                                                                                                                                                                        |
+|     `user_clk_offset`      |  `double`  | User clock offset, in [s].                                                                                                                                                                                                                                           |
+|          `pos_x`           |  `double`  | Position X component in ECEF, expressed in [m].                                                                                                                                                                                                                      |
+|          `pos_y`           |  `double`  | Position Y component in ECEF, expressed in [m].                                                                                                                                                                                                                      |
+|          `pos_z`           |  `double`  | Position Z component in ECEF, expressed in [m].                                                                                                                                                                                                                      |
+|          `vel_x`           |  `double`  | Velocity X component in ECEF, expressed in [m/s].                                                                                                                                                                                                                    |
+|          `vel_y`           |  `double`  | Velocity Y component in ECEF, expressed in [m/s].                                                                                                                                                                                                                    |
+|          `vel_z`           |  `double`  | Velocity Z component in ECEF, expressed in [m/s].                                                                                                                                                                                                                    |
+|          `cov_xx`          |  `double`  | Position variance in the X component, $$ \sigma_{xx}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                           |
+|          `cov_yy`          |  `double`  | Position variance in the Y component, $$ \sigma_{yy}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                           |
+|          `cov_zz`          |  `double`  | Position variance in the X component, $$ \sigma_{zz}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                           |
+|          `cov_xy`          |  `double`  | Position XY covariance $$ \sigma_{xy}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                                          |
+|          `cov_yz`          |  `double`  | Position YZ covariance $$ \sigma_{yz}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                                          |
+|          `cov_zx`          |  `double`  | Position ZX covariance $$ \sigma_{zx}^2 $$, in [$$ m^2 $$].                                                                                                                                                                                                          |
+|         `latitude`         |  `double`  | Latitude, in [deg]. Positive: North.                                                                                                                                                                                                                                 |
+|        `longitude`         |  `double`  | Longitude, in [deg]. Positive: East.                                                                                                                                                                                                                                 |
+|          `height`          |  `double`  | Height, in [m].                                                                                                                                                                                                                                                      |
+|        `valid_sats`        | `uint32_t` | Number of valid satellites.                                                                                                                                                                                                                                          |
+|     `solution_status`      | `uint32_t` | RTKLIB solution status.                                                                                                                                                                                                                                              |
+|      `solution_type`       | `uint32_t` | RTKLIB solution type (`0`: xyz-ecef, `1`: enu-baseline).                                                                                                                                                                                                             |
+|     `ar_ratio_factor`      |  `float`   | Ambiguity resolution ratio factor for validation.                                                                                                                                                                                                                    |
+|    `ar_ratio_threshold`    |  `float`   | Ambiguity resolution ratio threshold for validation.                                                                                                                                                                                                                 |
+|           `gdop`           |  `double`  | Geometric dilution of precision (GDOP).                                                                                                                                                                                                                              |
+|           `pdop`           |  `double`  | Position (3D) dilution of precision (PDOP).                                                                                                                                                                                                                          |
+|           `hdop`           |  `double`  | Horizontal dilution of precision (HDOP).                                                                                                                                                                                                                             |
+|           `vdop`           |  `double`  | Vertical dilution of precision (VDOP).                                                                                                                                                                                                                               |
+|    `user_clk_drift_ppm`    |  `double`  | User clock drift, in parts per million.                                                                                                                                                                                                                              |
 |         `utc_time`         |  `string`  | PVT UTC time ([RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime string).   This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. |
 |          `vel_e`           |  `double`  | East component of the velocity in the local ENU frame, in m/s.  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                      |
 |          `vel_n`           |  `double`  | North component of the velocity in the local ENU frame, in m/s.  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                     |
 |          `vel_u`           |  `double`  | Up component of the velocity in the local ENU frame, in m/s.  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                        |
 |           `cog`            |  `double`  | Course Over Ground, in degrees.  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                     |
-| `galhas_status` | `uint32_t` | Galileo HAS  status (0: not available; 1: HAS corrections applied).  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. |
-| `geohash` | `string` | [Encoded geographic location](https://en.wikipedia.org/wiki/Geohash).  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. |
+|      `galhas_status`       | `uint32_t` | Galileo HAS  status (0: not available; 1: HAS corrections applied).  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                 |
+|         `geohash`          |  `string`  | [Encoded geographic location](https://en.wikipedia.org/wiki/Geohash).  This metric is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.               |
 |       --------------       |
 
  
@@ -1063,7 +1063,7 @@ The following table shows the complete list of streamed parameters:
 The PVT monitor can also stream GPS and Galileo ephemeris data by setting
 `PVT.enable_monitor_ephemeris=true` in the configuration file. The streamed data
 members are serialized via [Protocol
-Buffers](https://developers.google.com/protocol-buffers/) into formats defined
+Buffers](https://protobuf.dev/) into formats defined
 at
 [`gps_ephemeris.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/gps_ephemeris.proto)
 and
@@ -1097,90 +1097,90 @@ standard and precise positioning. It accepts the following parameters:
 |          --------------           |
 
 |----------
-|            **Parameter**             | **Description**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | **Required** |
-| :----------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: |
+|            **Parameter**             | **Description**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | **Required** |
+| :----------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: |
 |            --------------            |
-|           `implementation`           | `RTKLIB_PVT`                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |  Mandatory   |
-|           `output_rate_ms`           | Rate at which PVT solutions will be computed, in ms. The minimum is 20 ms, and the value must be a multiple of it. It defaults to 500 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|          `display_rate_ms`           | Rate at which PVT solutions will be displayed in the terminal, in ms. It must be multiple of `output_rate_ms`. It defaults to 500 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
-|          `positioning_mode`          | [`Single`, `PPP_Static`, `PPP_Kinematic`] Set positioning mode. `Single`: Single point positioning.  `PPP_Static`: Precise Point Positioning with static mode. `PPP_Kinematic`: Precise Point Positioning for a moving receiver. It defaults to `Single`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|             `num_bands`              | [`1`: L1 Single frequency, `2`: L1 and L2 Dual‐frequency, `3`: L1, L2 and L5 Triple‐frequency] This option is automatically configured according to the Channels configuration. This option can be useful to force some configuration (*e.g.*, single-band solution in a dual-frequency receiver).                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
-|           `elevation_mask`           | Set the elevation mask angle, in degrees. It defaults to $$ 15^{o} $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
-|           `dynamics_model`           | [`0`: Off, `1`: On] Set the dynamics model of the receiver. If set to $$ 1 $$ and `PVT.positioning_mode=PPP_Kinematic`, the receiver position is predicted with the estimated velocity and acceleration. It defaults to $$ 0 $$ (no dynamics model).                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|             `iono_model`             | [`OFF`, `Broadcast`, `Iono-Free-LC`]. Set ionospheric correction options. `OFF`: Not apply the ionospheric correction. `Broadcast`: Apply broadcast ionospheric model. `Iono‐Free-LC`: Ionosphere‐free linear combination with dual-frequency (L1‐L2 for GPS or L1‐L5 for Galileo) measurements is used for ionospheric correction. It defaults to `OFF` (no ionospheric correction)                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|             `trop_model`             | [`OFF`, `Saastamoinen`, `Estimate_ZTD`, `Estimate_ZTD_Grad`]. Set whether tropospheric parameters (zenith total delay at rover and base‐station positions) are estimated or not. `OFF`: Not apply troposphere correction. `Saastamoinen`: Apply Saastamoinen model. `Estimate_ZTD`: Estimate ZTD (zenith total delay) parameters as EKF states. `Estimate_ZTD_Grad`: Estimate ZTD and horizontal gradient parameters as EKF states. If defaults to `OFF` (no troposphere correction).                                                                                                                                                                                                                                          |   Optional   |
-|     `enable_rx_clock_correction`     | [`true`, `false`]: If set to `true`, the receiver makes use of the PVT solution to correct timing in observables, hence providing continuous measurements in long observation periods. If set to `false`, the Time solution is only used in the computation of Observables when the clock offset estimation exceeds the value of `max_clock_offset_ms`. This parameter defaults to `false`.                                                                                                                                                                                                                                                                                                                                    |   Optional   |
-|        `max_clock_offset_ms`         | If `enable_rx_clock_correction` is set to `false`, this parameter sets the maximum allowed local clock offset with respect to the Time solution. If the estimated offset exceeds this parameter, a clock correction is applied to the computation of Observables. It defaults to 40 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
-|     `code_phase_error_ratio_l1`      | Code/phase error ratio $$ R_r $$ for the L1 band. It defaults to $$ 100 $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |   Optional   |
-|    `carrier_phase_error_factor_a`    | Carrier phase error factor $$ a_{\sigma}^2 $$. It defaults to $$ 0.003 $$ m.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
-|    `carrier_phase_error_factor_b`    | Carrier phase error factor $$ b_{\sigma}^2 $$. It defaults to $$ 0.003 $$ m.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
-|           `slip_threshold`           | Set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs. It defaults to $$ 0.05 $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
-|       `threshold_reject_GDOP`        | Set the reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. It defaults to $$ 30.0 $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|    `threshold_reject_innovation`     | Set the reject threshold of innovation (pre‐fit residual) (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. It defaults to $$ 30.0 $$ m.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
-|         `number_filter_iter`         | Set the number of iteration in the measurement update of the estimation filter. If the baseline length is very short like 1 m, the iteration may be effective to handle the nonlinearity of the measurement equation. It defaults to 1.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
-|             `sigma_bias`             | Set the process noise standard deviation of carrier‐phase bias $$ \sigma_{bias} $$, in cycles/$$ \sqrt{s} $$. It defaults to $$ 0.0001 $$ cycles/$$ \sqrt{s} $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|             `sigma_trop`             | Set the process noise standard deviation of zenith tropospheric delay $$ \sigma_{Z} $$, in m/$$ \sqrt{s} $$. It defaults to $$ 0.0001 $$ m/$$ \sqrt{s} $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
-|              `raim_fde`              | [`0`, `1`]: Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not. It defaults to $$ 0 $$ (RAIM not enabled)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|           `reject_GPS_IIA`           | [`0`, `1`]: Set whether the GPS Block IIA satellites are excluded or not. Those satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. It defaults to $$ 0 $$ (no rejection).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
-|              `phwindup`              | [`0`, `1`]: Set whether the phase windup correction $$ \phi_{pw} $$ for PPP modes is applied or not. It defaults to $$ 0 $$ (no phase windup correction).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|             `earth_tide`             | [`0`, `1`]: Set whether earth tides correction is applied or not. If set to $$ 1 $$, the solid earth tides correction $$ \mathbf{d}_{r,disp} $$ is applied to the PPP solution, following the description in [IERS Technical Note No. 32](https://www.iers.org/IERS/EN/Publications/TechnicalNotes/tn32.html)[^McCarthy04], Chapter 7. It defaults to $$ 0 $$ (no Earth tide correction).                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|           `output_enabled`           | [`true`, `false`]: If set to `false`, output data files are not stored. It defaults to `true`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
-|      `rtcm_output_file_enabled`      | [`true`, `false`]: If set to `false`, RTCM binary files are not stored. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |   Optional   |
-|         `gpx_output_enabled`         | [`true`, `false`]: If set to `false`, GPX files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|       `geojson_output_enabled`       | [`true`, `false`]: If set to `false`, GeoJSON files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|         `kml_output_enabled`         | [`true`, `false`]: If set to `false`, KML files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|         `xml_output_enabled`         | [`true`, `false`]: If set to `false`, XML files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|        `rinex_output_enabled`        | [`true`, `false`]: If set to `false`, RINEX files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
-|           `rinex_version`            | [`2`: version 2.11, `3`: version 3.02] Version of the generated RINEX files. It defaults to 3.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
-|             `rinex_name`             | Sets the base name of the RINEX files. If this parameter is not specified, a default one will be assigned. The command-line flag `--RINEX_name`, if present, overrides this parameter.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
-|          `rinexobs_rate_ms`          | Rate at which observations are annotated in the RINEX file, in ms. The minimum is 20 ms, and must be a multiple of `output_rate_ms`. It defaults to 1000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
-|      `nmea_output_file_enabled`      | [`true`, `false`]: If set to `false`, NMEA sentences are not stored. It defaults to `true`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |   Optional   |
-|         `nmea_dump_filename`         | Name of the file containing the generated NMEA sentences in ASCII format. It defaults to `./nmea_pvt.nmea`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |   Optional   |
-|         `flag_nmea_tty_port`         | [`true`, `false`]: If set to `true`, the NMEA sentences are also sent to a serial port device. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
-|         `nmea_dump_devname`          | If `flag_nmea_tty_port` is set to `true`, descriptor of the serial port device.  It defaults to `/dev/tty1`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
-|          `flag_rtcm_server`          | [`true`, `false`]: If set to `true`, it runs up a TCP server that is serving RTCM messages to the connected clients during the execution of the software receiver. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
-|           `rtcm_tcp_port`            | If `flag_rtcm_server` is set to `true`, TCP port from which the RTCM messages will be served. It defaults to 2101.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
-|          `rtcm_station_id`           | Station ID reported in the generated RTCM messages. It defaults to 1234.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
-|        `rtcm_MT1045_rate_ms`         | Rate at which RTCM Message Type 1045 (Galileo Ephemeris data) will be generated, in ms. If set to `0`, mutes this message. It defaults to 5000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
-|        `rtcm_MT1019_rate_ms`         | Rate at which RTCM Message Type 1019 (GPS Ephemeris data) will be generated, in ms. If set to `0`, mutes this message. It defaults to 5000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
-|          `rtcm_MSM_rate_ms`          | Default rate at which RTCM Multiple Signal Messages will be generated. It defaults to 1000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
-|        `rtcm_MT1077_rate_ms`         | Rate at which RTCM Multiple Signal Messages GPS MSM7 (MT1077 - Full GPS observations) will be generated, in ms. If set to `0`, mutes this message. It defaults to `rtcm_MSM_rate_ms`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
-|        `rtcm_MT1097_rate_ms`         | Rate at which RTCM Multiple Signal Messages Galileo MSM7 (MT1097 - Full Galileo observations) will be generated, in ms. If set to `0`, mutes this message. It defaults to `rtcm_MSM_rate_ms`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
-|         `flag_rtcm_tty_port`         | [`true`, `false`]: If set to `true`, the generated RTCM messages are also sent to a serial port device. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |   Optional   |
-|         `rtcm_dump_devname`          | If `flag_rtcm_tty_port` is set to `true`, descriptor of the serial port device. It defaults to `/dev/pts/1`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
-|            `output_path`             | Base path in which output data files will be stored. If the specified path does not exist, it will be created. It defaults to the current path `./`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|         `rinex_output_path`          | Base path in which RINEX files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
-|          `gpx_output_path`           | Base path in which GPX files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|        `geojson_output_path`         | Base path in which GeoJSON files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
-|          `kml_output_path`           | Base path in which KML files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|          `xml_output_path`           | Base path in which XML files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|       `nmea_output_file_path`        | Base path in which NMEA messages will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
-|       `rtcm_output_file_path`        | Base path in which RTCM binary files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
-|            `kml_rate_ms`             | Output rate of the KML annotations, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|            `gpx_rate_ms`             | Output rate of the GPX annotations, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|          `geojson_rate_ms`           | Output rate of the GeoJSON annotations, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
-|            `nmea_rate_ms`            | Output rate of the NMEA messages, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
-|                `dump`                | [`true`, `false`]: If set to `true`, it enables the PVT internal binary data file logging. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
-|           `dump_filename`            | If `dump` is set to `true`, name of the file in which internal data will be stored. This parameter accepts either a relative or an absolute path; if there are non-existing specified folders, they will be created. It defaults to `./pvt.dat`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|              `dump_mat`              | [`true`, `false`]. If `dump=true`, when the receiver exits it can convert the ".dat" file stored by this block into a ".mat" file directly readable from Matlab and Octave. If the receiver has processed more than a few minutes of signal, this conversion can take a long time. In systems with limited resources, you can turn off this conversion by setting this parameter to `false`. It defaults to `true`, so the ".mat" file is generated by default if `dump=true`.                                                                                                                                                                                                                                                 |   Optional   |
-|           `enable_monitor`           | [`true`, `false`]: If set to `true`, the PVT real-time monitoring port is activated. This feature allows streaming the internal parameters and outputs of the PVT block to local or remote clients over UDP. The streamed data members (28 in total) are the same ones that are included in the binary dump. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
-|      `monitor_client_addresses`      | Destination IP address(es) of the real-time monitoring port. To specify multiple clients, use an underscore delimiter character ( `_` ) between addresses. As many addresses can be added as deemed necessary. Duplicate addresses are ignored. It defaults to `127.0.0.1` (localhost).                                                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
-|          `monitor_udp_port`          | Destination UDP port number of the real-time monitoring port. Must be within the range from `0` to `65535`. Ports outside this range are treated as `0`. The port number is the same for all the clients. It defaults to `1234`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|      `enable_monitor_ephemeris`      | [`true`, `false`]: If set to `true`, the PVT real-time monitoring port streams ephemeris data to local or remote clients over UDP. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
-| `monitor_ephemeris_client_addresses` | Destination IP address(es) of the real-time monitoring port for ephemeris data. To specify multiple clients, use an underscore delimiter character ( `_` ) between addresses. As many addresses can be added as deemed necessary. Duplicate addresses are ignored. It defaults to `127.0.0.1` (localhost).                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
-|     `monitor_ephemeris_udp_port`     | Destination UDP port number of the real-time monitoring port for ephemeris data. Must be within the range from `0` to `65535`. Ports outside this range are treated as `0`. The port number is the same for all the clients. It defaults to `1234`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
-|          `enable_protobuf`           | [`true`, `false`]: If set to `true`, the data serialization is done using [Protocol Buffers](https://developers.google.com/protocol-buffers/), with the format defined at [`monitor_pvt.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/monitor_pvt.proto). An example of usage is the [gnss-sdr-monitor](https://github.com/acebrianjuan/gnss-sdr-monitor). If set to `false`, it uses [Boost Serialization](https://www.boost.org/doc/libs/release/libs/serialization/doc/index.html). For an example of usage of the latter, check the [gnss-sdr-pvt-monitoring-client](https://github.com/acebrianjuan/gnss-sdr-pvt-monitoring-client). This parameter defaults to `true` (Protocol Buffers is used). |   Optional   |
-|           `use_e6_for_pvt`           | [`true`, `false`]: If set to `false`, the PVT engine will ignore observables from Galileo E6B signals. It defaults to `true`, so observables will be used if found. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
-|        `use_has_corrections`         | [`true`, `false`]: If set to `false`, the PVT engine will ignore corrections from the Galileo High Accuracy Service. It defaults to `true`, so corrections will be applied if available. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
-|           `enable_pvt_kf`            | [`true`, `false`]: If set to `true`, it enables the Kalman filter of the PVT solution. It defaults to `false`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
-|     `kf_measures_ecef_pos_sd_m`      | Standard deviation of the position estimations, in meters. It defaults to `1.0` [m]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
-|     `kf_measures_ecef_vel_sd_ms`     | Standard deviation of the velocity estimations, in meters per second. It defaults to `0.1` [m/s]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
-|      `kf_system_ecef_pos_sd_m`       | Standard deviation of the dynamic system model for position, in meters. It defaults to `0.01` [m]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                                    |   Optional   |
-|      `kf_system_ecef_vel_sd_ms`      | Standard deviation of the dynamic system model for velocity, in meters per second. It defaults to `0.001` [m/s]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
-|         `use_unhealthy_sats`         | [`true`, `false`]: If set to `true`, the PVT engine will use observables from satellites flagged as unhealthy in the navigation message. It defaults to `false`, so those observables will be ignored. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
-|        `show_local_time_zone`        | [`true`, `false`]: If set to `true`, the time of the PVT solution displayed in the terminal is shown in the local time zone, referred to UTC. It defaults to `false`, so time is shown in UTC. This parameter does not affect time annotations in other output formats, which are always UTC.                                                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
-|          `rtk_trace_level`           | Configure the RTKLIB trace level (`0`: off, up to `5`: max. verbosity). When set to something > `2`, the RTKLIB library become more verbose in the internal logging file. It defaults to `0` (off).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
-|           `bancroft_init`            | [`true`, `false`]: If set to `false`, the [Bancroft initialization](https://gssc.esa.int/navipedia/index.php/Bancroft_Method) in the first iteration of the PVT computation is skipped. It defaults to `true`. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|           `implementation`           | `RTKLIB_PVT`                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |  Mandatory   |
+|           `output_rate_ms`           | Rate at which PVT solutions will be computed, in ms. The minimum is 20 ms, and the value must be a multiple of it. It defaults to 500 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
+|          `display_rate_ms`           | Rate at which PVT solutions will be displayed in the terminal, in ms. It must be multiple of `output_rate_ms`. It defaults to 500 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |   Optional   |
+|          `positioning_mode`          | [`Single`, `PPP_Static`, `PPP_Kinematic`] Set positioning mode. `Single`: Single point positioning.  `PPP_Static`: Precise Point Positioning with static mode. `PPP_Kinematic`: Precise Point Positioning for a moving receiver. It defaults to `Single`.                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
+|             `num_bands`              | [`1`: L1 Single frequency, `2`: L1 and L2 Dual‐frequency, `3`: L1, L2 and L5 Triple‐frequency] This option is automatically configured according to the Channels configuration. This option can be useful to force some configuration (*e.g.*, single-band solution in a dual-frequency receiver).                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
+|           `elevation_mask`           | Set the elevation mask angle, in degrees. It defaults to $$ 15^{o} $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
+|           `dynamics_model`           | [`0`: Off, `1`: On] Set the dynamics model of the receiver. If set to $$ 1 $$ and `PVT.positioning_mode=PPP_Kinematic`, the receiver position is predicted with the estimated velocity and acceleration. It defaults to $$ 0 $$ (no dynamics model).                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|             `iono_model`             | [`OFF`, `Broadcast`, `Iono-Free-LC`]. Set ionospheric correction options. `OFF`: Not apply the ionospheric correction. `Broadcast`: Apply broadcast ionospheric model. `Iono‐Free-LC`: Ionosphere‐free linear combination with dual-frequency (L1‐L2 for GPS or L1‐L5 for Galileo) measurements is used for ionospheric correction. It defaults to `OFF` (no ionospheric correction)                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|             `trop_model`             | [`OFF`, `Saastamoinen`, `Estimate_ZTD`, `Estimate_ZTD_Grad`]. Set whether tropospheric parameters (zenith total delay at rover and base‐station positions) are estimated or not. `OFF`: Not apply troposphere correction. `Saastamoinen`: Apply Saastamoinen model. `Estimate_ZTD`: Estimate ZTD (zenith total delay) parameters as EKF states. `Estimate_ZTD_Grad`: Estimate ZTD and horizontal gradient parameters as EKF states. If defaults to `OFF` (no troposphere correction).                                                                                                                                                                                                                |   Optional   |
+|     `enable_rx_clock_correction`     | [`true`, `false`]: If set to `true`, the receiver makes use of the PVT solution to correct timing in observables, hence providing continuous measurements in long observation periods. If set to `false`, the Time solution is only used in the computation of Observables when the clock offset estimation exceeds the value of `max_clock_offset_ms`. This parameter defaults to `false`.                                                                                                                                                                                                                                                                                                          |   Optional   |
+|        `max_clock_offset_ms`         | If `enable_rx_clock_correction` is set to `false`, this parameter sets the maximum allowed local clock offset with respect to the Time solution. If the estimated offset exceeds this parameter, a clock correction is applied to the computation of Observables. It defaults to 40 ms.                                                                                                                                                                                                                                                                                                                                                                                                              |   Optional   |
+|     `code_phase_error_ratio_l1`      | Code/phase error ratio $$ R_r $$ for the L1 band. It defaults to $$ 100 $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
+|    `carrier_phase_error_factor_a`    | Carrier phase error factor $$ a_{\sigma}^2 $$. It defaults to $$ 0.003 $$ m.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
+|    `carrier_phase_error_factor_b`    | Carrier phase error factor $$ b_{\sigma}^2 $$. It defaults to $$ 0.003 $$ m.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
+|           `slip_threshold`           | Set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs. It defaults to $$ 0.05 $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
+|       `threshold_reject_GDOP`        | Set the reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. It defaults to $$ 30.0 $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|    `threshold_reject_innovation`     | Set the reject threshold of innovation (pre‐fit residual) (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. It defaults to $$ 30.0 $$ m.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |   Optional   |
+|         `number_filter_iter`         | Set the number of iteration in the measurement update of the estimation filter. If the baseline length is very short like 1 m, the iteration may be effective to handle the nonlinearity of the measurement equation. It defaults to 1.                                                                                                                                                                                                                                                                                                                                                                                                                                                              |   Optional   |
+|             `sigma_bias`             | Set the process noise standard deviation of carrier‐phase bias $$ \sigma_{bias} $$, in cycles/$$ \sqrt{s} $$. It defaults to $$ 0.0001 $$ cycles/$$ \sqrt{s} $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|             `sigma_trop`             | Set the process noise standard deviation of zenith tropospheric delay $$ \sigma_{Z} $$, in m/$$ \sqrt{s} $$. It defaults to $$ 0.0001 $$ m/$$ \sqrt{s} $$.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
+|              `raim_fde`              | [`0`, `1`]: Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not. It defaults to $$ 0 $$ (RAIM not enabled)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|           `reject_GPS_IIA`           | [`0`, `1`]: Set whether the GPS Block IIA satellites are excluded or not. Those satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. It defaults to $$ 0 $$ (no rejection).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
+|              `phwindup`              | [`0`, `1`]: Set whether the phase windup correction $$ \phi_{pw} $$ for PPP modes is applied or not. It defaults to $$ 0 $$ (no phase windup correction).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
+|             `earth_tide`             | [`0`, `1`]: Set whether earth tides correction is applied or not. If set to $$ 1 $$, the solid earth tides correction $$ \mathbf{d}_{r,disp} $$ is applied to the PPP solution, following the description in [IERS Technical Note No. 32](https://www.iers.org/IERS/EN/Publications/TechnicalNotes/tn32.html)[^McCarthy04], Chapter 7. It defaults to $$ 0 $$ (no Earth tide correction).                                                                                                                                                                                                                                                                                                            |   Optional   |
+|           `output_enabled`           | [`true`, `false`]: If set to `false`, output data files are not stored. It defaults to `true`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
+|      `rtcm_output_file_enabled`      | [`true`, `false`]: If set to `false`, RTCM binary files are not stored. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
+|         `gpx_output_enabled`         | [`true`, `false`]: If set to `false`, GPX files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|       `geojson_output_enabled`       | [`true`, `false`]: If set to `false`, GeoJSON files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|         `kml_output_enabled`         | [`true`, `false`]: If set to `false`, KML files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|         `xml_output_enabled`         | [`true`, `false`]: If set to `false`, XML files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|        `rinex_output_enabled`        | [`true`, `false`]: If set to `false`, RINEX files are not stored. It defaults to `output_enabled`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
+|           `rinex_version`            | [`2`: version 2.11, `3`: version 3.02] Version of the generated RINEX files. It defaults to 3.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
+|             `rinex_name`             | Sets the base name of the RINEX files. If this parameter is not specified, a default one will be assigned. The command-line flag `--RINEX_name`, if present, overrides this parameter.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
+|          `rinexobs_rate_ms`          | Rate at which observations are annotated in the RINEX file, in ms. The minimum is 20 ms, and must be a multiple of `output_rate_ms`. It defaults to 1000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
+|      `nmea_output_file_enabled`      | [`true`, `false`]: If set to `false`, NMEA sentences are not stored. It defaults to `true`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
+|         `nmea_dump_filename`         | Name of the file containing the generated NMEA sentences in ASCII format. It defaults to `./nmea_pvt.nmea`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
+|         `flag_nmea_tty_port`         | [`true`, `false`]: If set to `true`, the NMEA sentences are also sent to a serial port device. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
+|         `nmea_dump_devname`          | If `flag_nmea_tty_port` is set to `true`, descriptor of the serial port device.  It defaults to `/dev/tty1`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
+|          `flag_rtcm_server`          | [`true`, `false`]: If set to `true`, it runs up a TCP server that is serving RTCM messages to the connected clients during the execution of the software receiver. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
+|           `rtcm_tcp_port`            | If `flag_rtcm_server` is set to `true`, TCP port from which the RTCM messages will be served. It defaults to 2101.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
+|          `rtcm_station_id`           | Station ID reported in the generated RTCM messages. It defaults to 1234.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
+|        `rtcm_MT1045_rate_ms`         | Rate at which RTCM Message Type 1045 (Galileo Ephemeris data) will be generated, in ms. If set to `0`, mutes this message. It defaults to 5000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
+|        `rtcm_MT1019_rate_ms`         | Rate at which RTCM Message Type 1019 (GPS Ephemeris data) will be generated, in ms. If set to `0`, mutes this message. It defaults to 5000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
+|          `rtcm_MSM_rate_ms`          | Default rate at which RTCM Multiple Signal Messages will be generated. It defaults to 1000 ms.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
+|        `rtcm_MT1077_rate_ms`         | Rate at which RTCM Multiple Signal Messages GPS MSM7 (MT1077 - Full GPS observations) will be generated, in ms. If set to `0`, mutes this message. It defaults to `rtcm_MSM_rate_ms`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |   Optional   |
+|        `rtcm_MT1097_rate_ms`         | Rate at which RTCM Multiple Signal Messages Galileo MSM7 (MT1097 - Full Galileo observations) will be generated, in ms. If set to `0`, mutes this message. It defaults to `rtcm_MSM_rate_ms`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
+|         `flag_rtcm_tty_port`         | [`true`, `false`]: If set to `true`, the generated RTCM messages are also sent to a serial port device. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |   Optional   |
+|         `rtcm_dump_devname`          | If `flag_rtcm_tty_port` is set to `true`, descriptor of the serial port device. It defaults to `/dev/pts/1`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
+|            `output_path`             | Base path in which output data files will be stored. If the specified path does not exist, it will be created. It defaults to the current path `./`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|         `rinex_output_path`          | Base path in which RINEX files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
+|          `gpx_output_path`           | Base path in which GPX files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|        `geojson_output_path`         | Base path in which GeoJSON files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
+|          `kml_output_path`           | Base path in which KML files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|          `xml_output_path`           | Base path in which XML files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|       `nmea_output_file_path`        | Base path in which NMEA messages will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
+|       `rtcm_output_file_path`        | Base path in which RTCM binary files will be stored. If the specified path does not exist, it will be created. It defaults to `output_path`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |   Optional   |
+|            `kml_rate_ms`             | Output rate of the KML annotations, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
+|            `gpx_rate_ms`             | Output rate of the GPX annotations, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |   Optional   |
+|          `geojson_rate_ms`           | Output rate of the GeoJSON annotations, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
+|            `nmea_rate_ms`            | Output rate of the NMEA messages, in ms. It defaults to $$ 1000 $$ (that is, 1 second).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |   Optional   |
+|                `dump`                | [`true`, `false`]: If set to `true`, it enables the PVT internal binary data file logging. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |   Optional   |
+|           `dump_filename`            | If `dump` is set to `true`, name of the file in which internal data will be stored. This parameter accepts either a relative or an absolute path; if there are non-existing specified folders, they will be created. It defaults to `./pvt.dat`.                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|              `dump_mat`              | [`true`, `false`]. If `dump=true`, when the receiver exits it can convert the ".dat" file stored by this block into a ".mat" file directly readable from Matlab and Octave. If the receiver has processed more than a few minutes of signal, this conversion can take a long time. In systems with limited resources, you can turn off this conversion by setting this parameter to `false`. It defaults to `true`, so the ".mat" file is generated by default if `dump=true`.                                                                                                                                                                                                                       |   Optional   |
+|           `enable_monitor`           | [`true`, `false`]: If set to `true`, the PVT real-time monitoring port is activated. This feature allows streaming the internal parameters and outputs of the PVT block to local or remote clients over UDP. The streamed data members (28 in total) are the same ones that are included in the binary dump. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                 |   Optional   |
+|      `monitor_client_addresses`      | Destination IP address(es) of the real-time monitoring port. To specify multiple clients, use an underscore delimiter character ( `_` ) between addresses. As many addresses can be added as deemed necessary. Duplicate addresses are ignored. It defaults to `127.0.0.1` (localhost).                                                                                                                                                                                                                                                                                                                                                                                                              |   Optional   |
+|          `monitor_udp_port`          | Destination UDP port number of the real-time monitoring port. Must be within the range from `0` to `65535`. Ports outside this range are treated as `0`. The port number is the same for all the clients. It defaults to `1234`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|      `enable_monitor_ephemeris`      | [`true`, `false`]: If set to `true`, the PVT real-time monitoring port streams ephemeris data to local or remote clients over UDP. It defaults to `false`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
+| `monitor_ephemeris_client_addresses` | Destination IP address(es) of the real-time monitoring port for ephemeris data. To specify multiple clients, use an underscore delimiter character ( `_` ) between addresses. As many addresses can be added as deemed necessary. Duplicate addresses are ignored. It defaults to `127.0.0.1` (localhost).                                                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
+|     `monitor_ephemeris_udp_port`     | Destination UDP port number of the real-time monitoring port for ephemeris data. Must be within the range from `0` to `65535`. Ports outside this range are treated as `0`. The port number is the same for all the clients. It defaults to `1234`.                                                                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
+|          `enable_protobuf`           | [`true`, `false`]: If set to `true`, the data serialization is done using [Protocol Buffers](https://protobuf.dev/), with the format defined at [`monitor_pvt.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/monitor_pvt.proto). An example of usage is the [gnss-sdr-monitor](https://github.com/acebrianjuan/gnss-sdr-monitor). If set to `false`, it uses [Boost Serialization](https://www.boost.org/doc/libs/release/libs/serialization/doc/index.html). For an example of usage of the latter, check the [gnss-sdr-pvt-monitoring-client](https://github.com/acebrianjuan/gnss-sdr-pvt-monitoring-client). This parameter defaults to `true` (Protocol Buffers is used). |   Optional   |
+|           `use_e6_for_pvt`           | [`true`, `false`]: If set to `false`, the PVT engine will ignore observables from Galileo E6B signals. It defaults to `true`, so observables will be used if found. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
+|        `use_has_corrections`         | [`true`, `false`]: If set to `false`, the PVT engine will ignore corrections from the Galileo High Accuracy Service. It defaults to `true`, so corrections will be applied if available. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                                             |   Optional   |
+|           `enable_pvt_kf`            | [`true`, `false`]: If set to `true`, it enables the Kalman filter of the PVT solution. It defaults to `false`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                                     |   Optional   |
+|     `kf_measures_ecef_pos_sd_m`      | Standard deviation of the position estimations, in meters. It defaults to `1.0` [m]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
+|     `kf_measures_ecef_vel_sd_ms`     | Standard deviation of the velocity estimations, in meters per second. It defaults to `0.1` [m/s]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                           |   Optional   |
+|      `kf_system_ecef_pos_sd_m`       | Standard deviation of the dynamic system model for position, in meters. It defaults to `0.01` [m]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                                          |   Optional   |
+|      `kf_system_ecef_vel_sd_ms`      | Standard deviation of the dynamic system model for velocity, in meters per second. It defaults to `0.001` [m/s]. Only used if `PVT.enable_pvt_kf=true`.  This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR.                                                                                                                                                                                                                                                                                                                                            |   Optional   |
+|         `use_unhealthy_sats`         | [`true`, `false`]: If set to `true`, the PVT engine will use observables from satellites flagged as unhealthy in the navigation message. It defaults to `false`, so those observables will be ignored. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                               |   Optional   |
+|        `show_local_time_zone`        | [`true`, `false`]: If set to `true`, the time of the PVT solution displayed in the terminal is shown in the local time zone, referred to UTC. It defaults to `false`, so time is shown in UTC. This parameter does not affect time annotations in other output formats, which are always UTC.                                                                                                                                                                                                                                                                                                                                                                                                        |   Optional   |
+|          `rtk_trace_level`           | Configure the RTKLIB trace level (`0`: off, up to `5`: max. verbosity). When set to something > `2`, the RTKLIB library become more verbose in the internal logging file. It defaults to `0` (off).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |   Optional   |
+|           `bancroft_init`            | [`true`, `false`]: If set to `false`, the [Bancroft initialization](https://gssc.esa.int/navipedia/index.php/Bancroft_Method) in the first iteration of the PVT computation is skipped. It defaults to `true`. This feature is present in GNSS-SDR v0.0.18 and later versions.                                                                                                                                                                                                                                                                                                                                                                                                                       |   Optional   |
 |              ----------              |
 
 {::comment}
@@ -1290,7 +1290,7 @@ deactivated with `rtcm_output_file_enabled=false`.
 
 # References
 
-[^RTKLIBManual]: T. Takasu, [RTKLIB ver. 2.4.2 Manual](http://www.rtklib.com/prog/manual_2.4.2.pdf). April 29, 2013.
+[^RTKLIBManual]: T. Takasu, [RTKLIB ver. 2.4.2 Manual](https://www.rtklib.com/prog/manual_2.4.2.pdf). April 29, 2013.
 
 [^MacMillan95]: D. S. MacMillan, [Atmospheric gradients from very long baseline interferometry observation](https://agupubs.onlinelibrary.wiley.com/doi/abs/10.1029/95GL00887), in Geophysical Research Letters, Volume 22, Issue 9, May 1995, pp. 1041-1044.
 
diff --git a/_sp-blocks/13-monitor.md b/_sp-blocks/13-monitor.md
index 32d522fb..1dba560c 100644
--- a/_sp-blocks/13-monitor.md
+++ b/_sp-blocks/13-monitor.md
@@ -37,7 +37,7 @@ access its member variables for further inspection and monitoring.
 This communication mechanism is built with
 [Boost.Asio](https://www.boost.org/doc/libs/release/libs/asio/) for the
 networking logic and [Protocol
-Buffers](https://developers.google.com/protocol-buffers/) for the serialization
+Buffers](https://protobuf.dev/) for the serialization
 logic. Originally
 [Boost.Serialization](https://www.boost.org/doc/libs/release/libs/serialization/)
 was used but in release
@@ -139,14 +139,14 @@ The following set of variables record information about the [Observables]({{
 The configuration of the _Monitor_ block accepts the following parameters:
 
 |----------
-|        **Parameter**        | **Description**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | **Required** |
-| :-------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: |
+|        **Parameter**        | **Description**                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | **Required** |
+| :-------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------: |
 |       --------------        |
-|  `Monitor.enable_monitor`   | [`true`, `false`]: If set to `true`, the _Monitor_ block is activated.                                                                                                                                                                                                                                                                                                                                                                                                                                                         |  Mandatory   |
-| `Monitor.decimation_factor` | Decimation integer factor $$ N $$. Limits the streaming output rate to only every $$ N^{th} $$ sample. To stream all the samples, set this to `1`. Zero or negative values are treated as `1`. The output rate is by default 20 ms, and it can be changed with the [`GNSS-SDR.observable_interval_ms`](https://gnss-sdr.org/docs/sp-blocks/global-parameters/#internal-observables-processing-rate) parameter.                                                                                                                 |  Mandatory   |
-| `Monitor.client_addresses`  | Destination IP address(es). To specify multiple clients, use an underscore delimiter character ( `_` ) between addresses. As many addresses can be added as deemed necessary. Duplicate addresses are ignored.                                                                                                                                                                                                                                                                                                                 |  Mandatory   |
-|     `Monitor.udp_port`      | Destination port number. Must be within the range from `0` to `65535`. Ports outside this range are treated as `0`. The port number is the same for all the clients.                                                                                                                                                                                                                                                                                                                                                           |  Mandatory   |
-|  `Monitor.enable_protobuf`  | [`true`, `false`]: If set to `true`, the serialization is done using [Protocol Buffers](https://developers.google.com/protocol-buffers/), with the format defined at [`gnss_synchro.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/gnss_synchro.proto). If set to `false`, it uses [Boost Serialization](https://www.boost.org/doc/libs/release/libs/serialization/doc/index.html). That is a deprecated behavior that can be abandoned in the future. It defaults to `true` (Protocol Buffers is used). |   Optional   |
+|  `Monitor.enable_monitor`   | [`true`, `false`]: If set to `true`, the _Monitor_ block is activated.                                                                                                                                                                                                                                                                                                                                                                                                                               |  Mandatory   |
+| `Monitor.decimation_factor` | Decimation integer factor $$ N $$. Limits the streaming output rate to only every $$ N^{th} $$ sample. To stream all the samples, set this to `1`. Zero or negative values are treated as `1`. The output rate is by default 20 ms, and it can be changed with the [`GNSS-SDR.observable_interval_ms`](https://gnss-sdr.org/docs/sp-blocks/global-parameters/#internal-observables-processing-rate) parameter.                                                                                       |  Mandatory   |
+| `Monitor.client_addresses`  | Destination IP address(es). To specify multiple clients, use an underscore delimiter character ( `_` ) between addresses. As many addresses can be added as deemed necessary. Duplicate addresses are ignored.                                                                                                                                                                                                                                                                                       |  Mandatory   |
+|     `Monitor.udp_port`      | Destination port number. Must be within the range from `0` to `65535`. Ports outside this range are treated as `0`. The port number is the same for all the clients.                                                                                                                                                                                                                                                                                                                                 |  Mandatory   |
+|  `Monitor.enable_protobuf`  | [`true`, `false`]: If set to `true`, the serialization is done using [Protocol Buffers](https://protobuf.dev/), with the format defined at [`gnss_synchro.proto`](https://github.com/gnss-sdr/gnss-sdr/blob/next/docs/protobuf/gnss_synchro.proto). If set to `false`, it uses [Boost Serialization](https://www.boost.org/doc/libs/release/libs/serialization/doc/index.html). That is a deprecated behavior that can be abandoned in the future. It defaults to `true` (Protocol Buffers is used). |   Optional   |
 |         ----------          |