diff --git a/app/consapp/rnx2rtkp/rnx2rtkp.c b/app/consapp/rnx2rtkp/rnx2rtkp.c
index 54fe48a48..c8e30ef02 100644
--- a/app/consapp/rnx2rtkp/rnx2rtkp.c
+++ b/app/consapp/rnx2rtkp/rnx2rtkp.c
@@ -28,7 +28,7 @@ static const char *help[]={
 "",
 " usage: rnx2rtkp [option]... file file [...]",
 "",
-" Read RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and ccompute ",
+" Read RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and compute ",
 " receiver (rover) positions and output position solutions.",
 " The first RINEX OBS file shall contain receiver (rover) observations. For the",
 " relative mode, the second RINEX OBS file shall contain reference",
@@ -57,16 +57,22 @@ static const char *help[]={
 " -c        forward/backward combined solutions [off]",
 " -i        instantaneous integer ambiguity resolution [off]",
 " -h        fix and hold for integer ambiguity resolution [off]",
+" -w        widelane integer ambiguity resolution [off]",
 " -e        output x/y/z-ecef position [latitude/longitude/height]",
 " -a        output e/n/u-baseline [latitude/longitude/height]",
 " -n        output NMEA-0183 GGA sentence [off]",
 " -g        output latitude/longitude in the form of ddd mm ss.ss' [ddd.ddd]",
 " -t        output time in the form of yyyy/mm/dd hh:mm:ss.ss [sssss.ss]",
 " -u        output time in utc [gpst]",
+" -z        output single point position when unable to compute",
+"           DGPS/float/fix/PPP position",
 " -d col    number of decimals in time [3]",
 " -s sep    field separator [' ']",
 " -r x y z  reference (base) receiver ecef pos (m) [average of single pos]",
 "           rover receiver ecef pos (m) for fixed or ppp-fixed mode",
+" -rb mode  reference (base) receiver position mode (1:average of single pos,",
+"           2:read from file,3:read from RINEX header,6:read from RINEX header",
+"           and subsequent site occupancy events) [1]",
 " -l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m)",
 "           rover latitude/longitude/height for fixed or ppp-fixed mode",
 " -y level  output soltion status (0:off,1:states,2:residuals) [0]",
@@ -99,16 +105,18 @@ int main(int argc, char **argv)
     gtime_t ts={0},te={0};
     double tint=0.0,es[]={2000,1,1,0,0,0},ee[]={2000,12,31,23,59,59},pos[3];
     int i,j,n,ret;
-    char *infile[MAXFILE],*outfile="",*p;
-    
-    prcopt.mode  =PMODE_KINEMA;
+    char *infile[MAXFILE] = {[0 ... (MAXFILE-1)] = ""};
+    char *outfile = "";
+    char *p = NULL;
+
+    prcopt.mode = PMODE_KINEMA;
     prcopt.navsys=0;
     prcopt.refpos=1;
     prcopt.glomodear=1;
     solopt.timef=0;
     sprintf(solopt.prog ,"%s ver.%s %s",PROGNAME,VER_RTKLIB,PATCH_LEVEL);
     sprintf(filopt.trace,"%s.trace",PROGNAME);
-    
+
     /* load options from configuration file */
     for (i=1;i<argc;i++) {
         if (!strcmp(argv[i],"-k")&&i+1<argc) {
@@ -136,12 +144,12 @@ int main(int argc, char **argv)
         else if (!strcmp(argv[i],"-sys")&&i+1<argc) {
             for (p=argv[++i];*p;p++) {
                 switch (*p) {
-                    case 'G': prcopt.navsys|=SYS_GPS;
-                    case 'R': prcopt.navsys|=SYS_GLO;
-                    case 'E': prcopt.navsys|=SYS_GAL;
-                    case 'J': prcopt.navsys|=SYS_QZS;
-                    case 'C': prcopt.navsys|=SYS_CMP;
-                    case 'I': prcopt.navsys|=SYS_IRN;
+                    case 'G': prcopt.navsys|=SYS_GPS; break;
+                    case 'R': prcopt.navsys|=SYS_GLO; break;
+                    case 'E': prcopt.navsys|=SYS_GAL; break;
+                    case 'J': prcopt.navsys|=SYS_QZS; break;
+                    case 'C': prcopt.navsys|=SYS_CMP; break;
+                    case 'I': prcopt.navsys|=SYS_IRN; break;
                 }
                 if (!(p=strchr(p,','))) break;
             }
@@ -152,21 +160,27 @@ int main(int argc, char **argv)
         else if (!strcmp(argv[i],"-d")&&i+1<argc) solopt.timeu=atoi(argv[++i]);
         else if (!strcmp(argv[i],"-b")) prcopt.soltype=1;
         else if (!strcmp(argv[i],"-c")) prcopt.soltype=2;
-        else if (!strcmp(argv[i],"-i")) prcopt.modear=2;
-        else if (!strcmp(argv[i],"-h")) prcopt.modear=3;
+        else if (!strcmp(argv[i],"-i")) prcopt.modear=ARMODE_INST;
+        else if (!strcmp(argv[i],"-h")) {
+            if (prcopt.modear!=ARMODE_WL) prcopt.modear=ARMODE_FIXHOLD;
+            prcopt.wlmodear=1;
+        }
         else if (!strcmp(argv[i],"-t")) solopt.timef=1;
         else if (!strcmp(argv[i],"-u")) solopt.times=TIMES_UTC;
+        else if (!strcmp(argv[i],"-z")) prcopt.outsingle=1;
         else if (!strcmp(argv[i],"-e")) solopt.posf=SOLF_XYZ;
         else if (!strcmp(argv[i],"-a")) solopt.posf=SOLF_ENU;
         else if (!strcmp(argv[i],"-n")) solopt.posf=SOLF_NMEA;
         else if (!strcmp(argv[i],"-g")) solopt.degf=1;
+        else if (!strcmp(argv[i],"-w")) prcopt.modear=ARMODE_WL;
         else if (!strcmp(argv[i],"-r")&&i+3<argc) {
-            prcopt.refpos=prcopt.rovpos=0;
+            prcopt.refpos=prcopt.rovpos=POSOPT_POS;
             for (j=0;j<3;j++) prcopt.rb[j]=atof(argv[++i]);
             matcpy(prcopt.ru,prcopt.rb,3,1);
         }
+        else if (!strcmp(argv[i],"-rb")&&i+1<argc) prcopt.refpos=atoi(argv[++i]);
         else if (!strcmp(argv[i],"-l")&&i+3<argc) {
-            prcopt.refpos=prcopt.rovpos=0;
+            prcopt.refpos=prcopt.rovpos=POSOPT_POS;
             for (j=0;j<3;j++) pos[j]=atof(argv[++i]);
             for (j=0;j<2;j++) pos[j]*=D2R;
             pos2ecef(pos,prcopt.rb);
@@ -180,12 +194,15 @@ int main(int argc, char **argv)
     if (!prcopt.navsys) {
         prcopt.navsys=SYS_GPS|SYS_GLO;
     }
+    if (prcopt.modear==ARMODE_WL&&(prcopt.navsys&SYS_CMP)) {
+        prcopt.bdsmodear=0;
+    }
     if (n<=0) {
         showmsg("error : no input file");
         return -2;
     }
     ret=postpos(ts,te,tint,0.0,&prcopt,&solopt,&filopt,infile,n,outfile,"","");
-    
+
     if (!ret) fprintf(stderr,"%40s\r","");
     return ret;
 }
diff --git a/app/consapp/rtkrcv/conf/rtk_skylark_l1l5.conf b/app/consapp/rtkrcv/conf/rtk_skylark_l1l5.conf
new file mode 100644
index 000000000..23830252f
--- /dev/null
+++ b/app/consapp/rtkrcv/conf/rtk_skylark_l1l5.conf
@@ -0,0 +1,160 @@
+# rtkrcv options (2022/02/09 22:11:36, v.2.4.3 b34)
+
+console-passwd     =admin
+console-timetype   =gpst       # (0:gpst,1:utc,2:jst,3:tow)
+console-soltype    =dms        # (0:dms,1:deg,2:xyz,3:enu,4:pyl)
+console-solflag    =1          # (0:off,1:std+2:age/ratio/ns)
+inpstr1-type       =ntripcli   # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
+inpstr2-type       =ntripcli   # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
+inpstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
+inpstr1-path       =username:password@igs-ip.net:2101/STFU00USA0
+# SWIFT: Skylark host may vary depending on geographic region and frequency range
+inpstr2-path       =username:password@na2.skylark.swiftnav.com:2101/CRS
+inpstr3-path       =
+inpstr1-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17)
+inpstr2-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17)
+inpstr3-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17)
+inpstr2-nmeareq    =single     # (0:off,1:latlon,2:single)
+inpstr2-nmealat    =0          # (deg)
+inpstr2-nmealon    =0          # (deg)
+inpstr2-nmeahgt    =0          # (m)
+outstr1-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
+outstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
+outstr1-path       =
+outstr2-path       =
+outstr1-format     =xyz        # (0:llh,1:xyz,2:enu,3:nmea,4:stat)
+outstr2-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea,4:stat)
+logstr1-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
+logstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
+logstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr,11:ntripc_c)
+logstr1-path       =
+logstr2-path       =
+logstr3-path       =
+misc-svrcycle      =10         # (ms)
+misc-timeout       =10000      # (ms)
+misc-reconnect     =10000      # (ms)
+misc-nmeacycle     =5000       # (ms)
+misc-buffsize      =32768      # (bytes)
+misc-navmsgsel     =all        # (0:all,1:rover,2:base,3:corr)
+misc-proxyaddr     =
+misc-fswapmargin   =30         # (s)
+misc-startcmd      =
+misc-stopcmd       =
+file-cmdfile1      =
+file-cmdfile2      =
+file-cmdfile3      =
+pos1-posmode       =kinematic  # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static,8:ppp-fixed)
+# SWIFT: l1+2 for L1/L2, l1+2+3 for L1/L5
+pos1-frequency     =l1+2+3     # (1:l1,2:l1+2,3:l1+2+3,4:l1+2+3+4,5:l1+2+3+4+5)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
+pos1-elmask        =15         # (deg)
+pos1-snrmask_r     =off        # (0:off,1:on)
+pos1-snrmask_b     =off        # (0:off,1:on)
+pos1-snrmask_L1    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L2    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L5    =0,0,0,0,0,0,0,0,0
+pos1-dynamics      =off        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on,2:otl)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-posopt1       =on         # (0:off,1:on)
+pos1-posopt2       =on         # (0:off,1:on)
+pos1-posopt3       =on         # (0:off,1:on,2:precise)
+pos1-posopt4       =on         # (0:off,1:on)
+pos1-posopt5       =on         # (0:off,1:on)
+pos1-posopt6       =off        # (0:off,1:on)
+pos1-exclsats      =C02        # (prn ...)
+pos1-navsys        =41         # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:bds+64:navic)
+pos2-armode        =wide-lane  # (0:off,1:continuous,2:instantaneous,3:fix-and-hold,4:WLNL,5:TCAR,6:wide-lane)
+# SWIFT: only enable for static positioning mode
+pos2-wlarmode      =off        # (0:off,1:on)
+pos2-gloarmode     =off        # (0:off,1:on)
+pos2-bdsarmode     =off        # (0:off,1:on)
+pos2-arthres       =3
+pos2-arthres1      =0.9999
+pos2-arthres2      =0.25
+pos2-arthres3      =0.1
+pos2-arthres4      =0.05
+pos2-arlockcnt     =30
+pos2-arelmask      =0          # (deg)
+pos2-arminfix      =30
+pos2-armaxiter     =1
+pos2-elmaskhold    =0          # (deg)
+pos2-aroutcnt      =30
+pos2-maxage        =30         # (s)
+pos2-syncsol       =off        # (0:off,1:on)
+pos2-slipthres     =0.05       # (m)
+pos2-rejionno      =30         # (m)
+pos2-rejgdop       =30
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =xyz        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =off        # (0:off,1:on)
+out-outopt         =off        # (0:off,1:on)
+out-outvel         =off        # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =tow        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =dms        # (0:deg,1:dms)
+out-fieldsep       =
+out-outsingle      =on         # (0:off,1:on)
+out-maxsolstd      =0          # (m)
+out-height         =geodetic   # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =state      # (0:off,1:state,2:residual)
+stats-eratio1      =100
+stats-eratio2      =100
+stats-errphase     =0.01       # (m)
+stats-errphaseel   =0.01       # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =1          # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =10         # (m/s^2)
+stats-prnaccelv    =10         # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-prnpos       =0          # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw,7:rinexdynamic)
+ant1-pos1          =90         # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =-6335367.6285 # (m|m)
+ant1-anttype       =
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =rtcm     # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw,7:rinexdynamic)
+ant2-pos1          =0          # (deg|m)
+ant2-pos2          =0          # (deg|m)
+ant2-pos3          =0          # (m|m)
+ant2-anttype       =
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+ant2-maxaveep      =3600
+ant2-initrst       =on         # (0:off,1:on)
+misc-timeinterp    =off        # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+misc-rnxopt1       =
+misc-rnxopt2       =
+misc-pppopt        =
+file-satantfile    =
+file-rcvantfile    =
+file-staposfile    =
+file-geoidfile     =
+file-ionofile      =
+file-dcbfile       =
+file-eopfile       =
+file-blqfile       =
+file-tempdir       =
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =
diff --git a/app/winapp/rtknavi/navimain.cpp b/app/winapp/rtknavi/navimain.cpp
index 3a5db349f..7bc299b58 100644
--- a/app/winapp/rtknavi/navimain.cpp
+++ b/app/winapp/rtknavi/navimain.cpp
@@ -2453,6 +2453,7 @@ void __fastcall TMainForm::LoadOpt(void)
     PrcOpt.dynamics =ini->ReadInteger("prcopt", "dynamics",        0);
     PrcOpt.tidecorr =ini->ReadInteger("prcopt", "tidecorr",        0);
     PrcOpt.modear   =ini->ReadInteger("prcopt", "modear",          1);
+    PrcOpt.wlmodear =ini->ReadInteger("prcopt", "wlmodear",        0);
     PrcOpt.glomodear=ini->ReadInteger("prcopt", "glomodear",       0);
     PrcOpt.bdsmodear=ini->ReadInteger("prcopt", "bdsmodear",       0);
     PrcOpt.maxout   =ini->ReadInteger("prcopt", "maxout",          5);
@@ -2701,6 +2702,7 @@ void __fastcall TMainForm::SaveOpt(void)
     ini->WriteInteger("prcopt", "dynamics",   PrcOpt.dynamics    );
     ini->WriteInteger("prcopt", "tidecorr",   PrcOpt.tidecorr    );
     ini->WriteInteger("prcopt", "modear",     PrcOpt.modear      );
+    ini->WriteInteger("prcopt", "wlmodear",   PrcOpt.wlmodear    );
     ini->WriteInteger("prcopt", "glomodear",  PrcOpt.glomodear   );
     ini->WriteInteger("prcopt", "bdsmodear",  PrcOpt.bdsmodear   );
     ini->WriteInteger("prcopt", "maxout",     PrcOpt.maxout      );
diff --git a/app/winapp/rtknavi/naviopt.cpp b/app/winapp/rtknavi/naviopt.cpp
index 6151b3fce..839dd1f83 100644
--- a/app/winapp/rtknavi/naviopt.cpp
+++ b/app/winapp/rtknavi/naviopt.cpp
@@ -405,7 +405,15 @@ void __fastcall TOptDialog::GetOpt(void)
 	IonoOpt		 ->ItemIndex=PrcOpt.ionoopt;
 	TropOpt		 ->ItemIndex=PrcOpt.tropopt;
 	SatEphem	 ->ItemIndex=PrcOpt.sateph;
-	AmbRes		 ->ItemIndex=PrcOpt.modear;
+	if(PrcOpt.modear>ARMODE_FIXHOLD) {
+		if(PrcOpt.wlmodear==0) {
+			AmbRes   ->ItemIndex    =4;
+		} else {
+			AmbRes   ->ItemIndex    =5;
+		}
+	} else {
+		AmbRes  ->ItemIndex	    =PrcOpt.modear;
+	}
 	GloAmbRes	 ->ItemIndex=PrcOpt.glomodear;
 	BdsAmbRes	 ->ItemIndex=PrcOpt.bdsmodear;
 	ValidThresAR ->Text     =s.sprintf("%.1f",PrcOpt.thresar[0]);
@@ -533,6 +541,11 @@ void __fastcall TOptDialog::SetOpt(void)
 	PrcOpt.tropopt   =TropOpt     ->ItemIndex;
 	PrcOpt.sateph    =SatEphem    ->ItemIndex;
 	PrcOpt.modear    =AmbRes      ->ItemIndex;
+	PrcOpt.wlmodear=0;
+	if(AmbRes->ItemIndex>3) {
+		PrcOpt.modear=ARMODE_WL;
+		if(AmbRes->ItemIndex==5) PrcOpt.wlmodear=1;
+	}
 	PrcOpt.glomodear =GloAmbRes   ->ItemIndex;
 	PrcOpt.bdsmodear =BdsAmbRes   ->ItemIndex;
 	PrcOpt.thresar[0]=str2dbl(ValidThresAR->Text);
@@ -720,8 +733,15 @@ void __fastcall TOptDialog::LoadOpt(AnsiString file)
 	PosOpt4		 ->Checked		=prcopt.posopt[3];
 	PosOpt5		 ->Checked		=prcopt.posopt[4];
 	PosOpt6		 ->Checked		=prcopt.posopt[5];
-	
-	AmbRes		 ->ItemIndex	=prcopt.modear;
+	if(prcopt.modear>ARMODE_FIXHOLD) {
+		if(prcopt.wlmodear==0) {
+			AmbRes   ->ItemIndex    =4;
+		} else {
+			AmbRes   ->ItemIndex    =5;
+		}
+	} else {
+		AmbRes  ->ItemIndex	    =prcopt.modear;
+	}
 	GloAmbRes	 ->ItemIndex	=prcopt.glomodear;
 	BdsAmbRes	 ->ItemIndex	=prcopt.bdsmodear;
 	ValidThresAR ->Text			=s.sprintf("%.1f",prcopt.thresar[0]);
@@ -937,6 +957,11 @@ void __fastcall TOptDialog::SaveOpt(AnsiString file)
 	prcopt.posopt[5]=PosOpt6->Checked;
 	
 	prcopt.modear	=AmbRes		->ItemIndex;
+	prcopt.wlmodear=0;
+	if(AmbRes->ItemIndex>3) {
+		prcopt.modear=ARMODE_WL;
+		if(AmbRes->ItemIndex==5) prcopt.wlmodear=1;
+	}
 	prcopt.glomodear=GloAmbRes	->ItemIndex;
 	prcopt.bdsmodear=BdsAmbRes	->ItemIndex;
 	prcopt.thresar[0]=str2dbl(ValidThresAR->Text);
diff --git a/app/winapp/rtknavi/naviopt.dfm b/app/winapp/rtknavi/naviopt.dfm
index 033f793b5..7f4b469be 100644
--- a/app/winapp/rtknavi/naviopt.dfm
+++ b/app/winapp/rtknavi/naviopt.dfm
@@ -5,7 +5,7 @@ object OptDialog: TOptDialog
   BorderStyle = bsDialog
   Caption = 'Options'
   ClientHeight = 297
-  ClientWidth = 411
+  ClientWidth = 491
   Color = clWhite
   Font.Charset = DEFAULT_CHARSET
   Font.Color = clWindowText
@@ -55,7 +55,7 @@ object OptDialog: TOptDialog
   object Options: TPageControl
     Left = 0
     Top = 0
-    Width = 411
+    Width = 491
     Height = 263
     ActivePage = TabSheet1
     Align = alTop
@@ -481,7 +481,7 @@ object OptDialog: TOptDialog
       object AmbRes: TComboBox
         Left = 248
         Top = 4
-        Width = 61
+        Width = 141
         Height = 21
         Style = csDropDownList
         ItemIndex = 0
@@ -492,7 +492,9 @@ object OptDialog: TOptDialog
           'OFF'
           'Continuous'
           'Instantaneous'
-          'Fix and Hold')
+          'Fix and Hold'
+          'Wide Lane'
+          'Wide Lane with Fix and Hold')
       end
       object ValidThresAR: TEdit
         Left = 248
@@ -559,7 +561,7 @@ object OptDialog: TOptDialog
         Text = '1'
       end
       object GloAmbRes: TComboBox
-        Left = 311
+        Left = 391
         Top = 4
         Width = 43
         Height = 21
@@ -653,7 +655,7 @@ object OptDialog: TOptDialog
           'ON')
       end
       object BdsAmbRes: TComboBox
-        Left = 356
+        Left = 436
         Top = 4
         Width = 43
         Height = 21
@@ -1832,7 +1834,7 @@ object OptDialog: TOptDialog
       ExplicitWidth = 0
       ExplicitHeight = 0
       DesignSize = (
-        403
+        483
         235)
       object Label19: TLabel
         Left = 32
@@ -1849,7 +1851,7 @@ object OptDialog: TOptDialog
         Caption = 'Solution Font'
       end
       object FontLabel2: TLabel
-        Left = 265
+        Left = 345
         Top = 188
         Width = 80
         Height = 18
@@ -1921,7 +1923,7 @@ object OptDialog: TOptDialog
         Caption = 'Panel Font'
       end
       object FontLabel1: TLabel
-        Left = 265
+        Left = 345
         Top = 164
         Width = 80
         Height = 18
diff --git a/app/winapp/rtknavi/rtknavi.cbproj b/app/winapp/rtknavi/rtknavi.cbproj
index 5fc42983c..d8d2fffda 100644
--- a/app/winapp/rtknavi/rtknavi.cbproj
+++ b/app/winapp/rtknavi/rtknavi.cbproj
@@ -403,6 +403,9 @@
             <BuildOrder>31</BuildOrder>
             <BuildOrder>2</BuildOrder>
         </CppCompile>
+        <CppCompile Include="..\..\..\src\rcv\swiftnav.c">
+            <BuildOrder>59</BuildOrder>
+        </CppCompile>
         <CppCompile Include="..\..\..\src\rcv\ublox.c">
             <BuildOrder>48</BuildOrder>
             <BuildOrder>15</BuildOrder>
diff --git a/app/winapp/rtkpost/postmain.cpp b/app/winapp/rtkpost/postmain.cpp
index ae3653eaa..2143784b6 100644
--- a/app/winapp/rtkpost/postmain.cpp
+++ b/app/winapp/rtkpost/postmain.cpp
@@ -894,6 +894,11 @@ int __fastcall TMainForm::GetOption(prcopt_t &prcopt, solopt_t &solopt,
     prcopt.maxgdop  =RejectGdop;
     prcopt.maxinno  =RejectThres;
     prcopt.outsingle=OutputSingle;
+    prcopt.wlmodear=0;
+    if (AmbRes>3) {
+        prcopt.modear=ARMODE_WL;
+        if(AmbRes==5) prcopt.wlmodear=1;
+    }
     if (BaseLineConst) {
         prcopt.baseline[0]=BaseLine[0];
         prcopt.baseline[1]=BaseLine[1];
@@ -916,7 +921,7 @@ int __fastcall TMainForm::GetOption(prcopt_t &prcopt, solopt_t &solopt,
     else if (RefPosType<=2) {
         for (int i=0;i<3;i++) prcopt.rb[i]=RefPos[i];
     }
-    else prcopt.refpos=RefPosType-2;
+    else prcopt.refpos=RefPosType==6?6:RefPosType-2;
     
     if (RovAntPcv) {
         strcpy(prcopt.anttype[0],RovAnt.c_str());
diff --git a/app/winapp/rtkpost/postopt.cpp b/app/winapp/rtkpost/postopt.cpp
index 5be742db4..b82404770 100644
--- a/app/winapp/rtkpost/postopt.cpp
+++ b/app/winapp/rtkpost/postopt.cpp
@@ -632,8 +632,16 @@ void __fastcall TOptDialog::LoadOpt(AnsiString file)
 	PosOpt4	     ->Checked		=prcopt.posopt[3];
 	PosOpt5	     ->Checked		=prcopt.posopt[4];
 	PosOpt6	     ->Checked		=prcopt.posopt[5];
-	
-	AmbRes		 ->ItemIndex	=prcopt.modear;
+
+	if(prcopt.modear>ARMODE_FIXHOLD) {
+		if(prcopt.wlmodear==0) {
+			AmbRes   ->ItemIndex    =4;
+		} else {
+			AmbRes   ->ItemIndex    =5;
+		}
+	} else {
+		AmbRes  ->ItemIndex	    =prcopt.modear;
+	}
 	GloAmbRes	 ->ItemIndex	=prcopt.glomodear;
 	BdsAmbRes	 ->ItemIndex	=prcopt.bdsmodear;
 	ValidThresAR ->Text			=s.sprintf("%.3g",prcopt.thresar[0]);
@@ -703,7 +711,7 @@ void __fastcall TOptDialog::LoadOpt(AnsiString file)
 	IntpRefObs	 ->ItemIndex	=prcopt.intpref;
 	SbasSat		 ->Text			=s.sprintf("%d",prcopt.sbassatsel);
 	RovPosType	 ->ItemIndex	=prcopt.rovpos==0?0:prcopt.rovpos+2;
-	RefPosType	 ->ItemIndex	=prcopt.refpos==0?0:prcopt.refpos+2;
+	RefPosType	 ->ItemIndex	=prcopt.refpos==0?0:prcopt.refpos==POSOPT_RINEX_DYN?6:prcopt.refpos+2;
 	RovPosTypeP					=RovPosType->ItemIndex;
 	RefPosTypeP					=RefPosType->ItemIndex;
 	SetPos(RovPosType->ItemIndex,editu,prcopt.ru);
@@ -779,6 +787,11 @@ void __fastcall TOptDialog::SaveOpt(AnsiString file)
 //	prcopt.mapfunc	=MapFunc	->ItemIndex;
 	
 	prcopt.modear	=AmbRes		->ItemIndex;
+	prcopt.wlmodear=0;
+	if(AmbRes->ItemIndex>3) {
+		prcopt.modear=ARMODE_WL;
+		if(AmbRes->ItemIndex==5) prcopt.wlmodear=1;
+	}
 	prcopt.glomodear=GloAmbRes	->ItemIndex;
 	prcopt.bdsmodear=BdsAmbRes	->ItemIndex;
 	prcopt.thresar[0]=str2dbl(ValidThresAR->Text);
@@ -843,7 +856,7 @@ void __fastcall TOptDialog::SaveOpt(AnsiString file)
 	prcopt.intpref	=IntpRefObs->ItemIndex;
 	prcopt.sbassatsel=SbasSat->Text.ToInt();
 	prcopt.rovpos=RovPosType->ItemIndex<3?0:RovPosType->ItemIndex-2;
-	prcopt.refpos=RefPosType->ItemIndex<3?0:RefPosType->ItemIndex-2;
+	prcopt.refpos=RefPosType->ItemIndex<3?0:RefPosType->ItemIndex==6?POSOPT_RINEX_DYN:RefPosType->ItemIndex-2;
 	if (prcopt.rovpos==0) GetPos(RovPosType->ItemIndex,editu,prcopt.ru);
 	if (prcopt.refpos==0) GetPos(RefPosType->ItemIndex,editr,prcopt.rb);
 	
diff --git a/app/winapp/rtkpost/postopt.dfm b/app/winapp/rtkpost/postopt.dfm
index 31e38bdef..0632e5cb5 100644
--- a/app/winapp/rtkpost/postopt.dfm
+++ b/app/winapp/rtkpost/postopt.dfm
@@ -535,7 +535,8 @@ object OptDialog: TOptDialog
           'Continuous'
           'Instantaneous'
           'Fix and Hold'
-          'PPP-AR')
+          'Wide Lane'
+          'Wide Lane with Fix and Hold')
       end
       object ValidThresAR: TEdit
         Left = 248
@@ -1260,7 +1261,7 @@ object OptDialog: TOptDialog
           Caption = 'Delta-E/N/U (m)'
         end
         object Label24: TLabel
-          Left = 149
+          Left = 231
           Top = 17
           Width = 31
           Height = 13
@@ -1351,7 +1352,7 @@ object OptDialog: TOptDialog
         object RefPosType: TComboBox
           Left = 6
           Top = 14
-          Width = 137
+          Width = 219
           Height = 21
           Style = csDropDownList
           ItemIndex = 0
@@ -1364,10 +1365,11 @@ object OptDialog: TOptDialog
             'X/Y/Z-ECEF (m)'
             'Average of Single Position'
             'Get from Position File'
-            'RINEX Header Postion')
+            'RINEX Header Postion'
+            'RINEX Header Position and Site Occupation Events')
         end
         object DatumRef: TComboBox
-          Left = 186
+          Left = 268
           Top = 14
           Width = 76
           Height = 21
diff --git a/src/options.c b/src/options.c
index a64b12e31..e95507b95 100644
--- a/src/options.c
+++ b/src/options.c
@@ -58,8 +58,8 @@ static char snrmask_[NFREQ][1024];
 #define GEOOPT  "0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000"
 #define STAOPT  "0:all,1:single"
 #define STSOPT  "0:off,1:state,2:residual"
-#define ARMOPT  "0:off,1:continuous,2:instantaneous,3:fix-and-hold"
-#define POSOPT  "0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw"
+#define ARMOPT  "0:off,1:continuous,2:instantaneous,3:fix-and-hold,4:WLNL,5:TCAR,6:wide-lane"
+#define POSOPT  "0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw,7:rinexdynamic"
 #define TIDEOPT "0:off,1:on,2:otl"
 #define PHWOPT  "0:off,1:on,2:precise"
 
@@ -86,8 +86,9 @@ EXPORT opt_t sysopts[]={
     {"pos1-posopt6",    3,  (void *)&prcopt_.posopt[5],  SWTOPT },
     {"pos1-exclsats",   2,  (void *)exsats_,             "prn ..."},
     {"pos1-navsys",     0,  (void *)&prcopt_.navsys,     NAVOPT },
-    
+
     {"pos2-armode",     3,  (void *)&prcopt_.modear,     ARMOPT },
+    {"pos2-wlarmode",   3,  (void *)&prcopt_.wlmodear,   SWTOPT },
     {"pos2-gloarmode",  3,  (void *)&prcopt_.glomodear,  GAROPT },
     {"pos2-bdsarmode",  3,  (void *)&prcopt_.bdsmodear,  SWTOPT },
     {"pos2-arthres",    1,  (void *)&prcopt_.thresar[0], ""     },
diff --git a/src/rinex.c b/src/rinex.c
index 7b8db6cf7..9cca5af80 100644
--- a/src/rinex.c
+++ b/src/rinex.c
@@ -647,7 +647,7 @@ static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys,
     
     trace(3,"readrnxh:\n");
     
-    *ver=2.10; *type=' '; *sys=SYS_GPS;
+    *ver=2.10; *type=' '; *sys=SYS_GPS; *tsys=TSYS_GPS;
     
     while (fgets(buff,MAXRNXLEN,fp)) {
         
@@ -1015,7 +1015,14 @@ static int readrnxobsb(FILE *fp, const char *opt, double ver, int *tsys,
             data[n].sat=(uint8_t)sats[i-1];
             
             /* decode RINEX observation data */
-            if (decode_obsdata(fp,buff,ver,mask,index,data+n)) n++;
+            if (decode_obsdata(fp,buff,ver,mask,index,data+n)) {
+                if (sta) {
+                    data[n].refpos[0]=sta->pos[0];
+                    data[n].refpos[1]=sta->pos[1];
+                    data[n].refpos[2]=sta->pos[2];
+                }
+                n++;
+            }
         }
         else if (*flag==3||*flag==4) { /* new site or header info follows */
             
@@ -1035,7 +1042,7 @@ static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
     uint8_t slips[MAXSAT][NFREQ+NEXOBS]={{0}};
     int i,n,flag=0,stat=0;
     
-    trace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,tsys);
+    trace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,*tsys);
     
     if (!obs||rcv>MAXRCV) return 0;
     
diff --git a/src/rtcm3.c b/src/rtcm3.c
index 1aa92989b..252c9b906 100644
--- a/src/rtcm3.c
+++ b/src/rtcm3.c
@@ -113,7 +113,7 @@ const char *msm_sig_sbs[32]={
 const char *msm_sig_cmp[32]={
     /* BeiDou: ref [17] table 3.5-108 */
     ""  ,"2I","2Q","2X",""  ,""  ,""  ,"6I","6Q","6X",""  ,""  ,
-    ""  ,"7I","7Q","7X",""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,
+    ""  ,"7I","7Q","7X",""  ,""  ,""  ,""  ,""  ,"5D","5P","5X",
     ""  ,""  ,""  ,""  ,""  ,""  ,""  ,""
 };
 const char *msm_sig_irn[32]={
@@ -2088,7 +2088,7 @@ static void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                         (float)(-(rr[i]+rrf[j])*freq/CLIGHT);
                 }
                 rtcm->obs.data[index].LLI[idx[k]]=
-                    lossoflock(rtcm,sat,idx[k],lock[j])+(half[j]?3:0);
+                    lossoflock(rtcm,sat,idx[k],lock[j])+(half[j]?2:0);
                 rtcm->obs.data[index].SNR [idx[k]]=(uint16_t)(cnr[j]/SNR_UNIT+0.5);
                 rtcm->obs.data[index].code[idx[k]]=code[k];
             }
diff --git a/src/rtkcmn.c b/src/rtkcmn.c
index 9a0acf58c..6c55b76be 100644
--- a/src/rtkcmn.c
+++ b/src/rtkcmn.c
@@ -204,7 +204,7 @@ const double chisqr[100]={      /* chi-sqr(n) (alpha=0.001) */
 const prcopt_t prcopt_default={ /* defaults processing options */
     PMODE_SINGLE,0,2,SYS_GPS,   /* mode,soltype,nf,navsys */
     15.0*D2R,{{0,0}},           /* elmin,snrmask */
-    0,1,1,1,                    /* sateph,modear,glomodear,bdsmodear */
+    0,1,0,1,1,                    /* sateph,modear,wlmodear,glomodear,bdsmodear */
     5,0,10,1,                   /* maxout,minlock,minfix,armaxiter */
     0,0,0,0,                    /* estion,esttrop,dynamics,tidecorr */
     1,0,0,0,0,                  /* niter,codesmooth,intpref,sbascorr,sbassatsel */
@@ -3114,10 +3114,13 @@ extern void traceobs(int level, const obsd_t *obs, int n)
     for (i=0;i<n;i++) {
         time2str(obs[i].time,str,3);
         satno2id(obs[i].sat,id);
-        fprintf(fp_trace," (%2d) %s %-3s rcv%d %13.3f %13.3f %13.3f %13.3f %d %d %d %d %3.1f %3.1f\n",
-              i+1,str,id,obs[i].rcv,obs[i].L[0],obs[i].L[1],obs[i].P[0],
-              obs[i].P[1],obs[i].LLI[0],obs[i].LLI[1],obs[i].code[0],
-              obs[i].code[1],obs[i].SNR[0]*SNR_UNIT,obs[i].SNR[1]*SNR_UNIT);
+        fprintf(fp_trace," (%2d) %s %-3s rcv%d %13.3f %13.3f %13.3f %13.3f %13.3f %13.3f %d %d %d %d %d %d %3.1f %3.1f %3.1f\n",
+              i+1,str,id,obs[i].rcv,
+              obs[i].L[0],obs[i].L[1],obs[i].L[2],
+              obs[i].P[0],obs[i].P[1],obs[i].P[2],
+              obs[i].LLI[0],obs[i].LLI[1],obs[i].LLI[2],
+              obs[i].code[0],obs[i].code[1],obs[i].code[2],
+              obs[i].SNR[0]*SNR_UNIT,obs[i].SNR[1]*SNR_UNIT,obs[i].SNR[2]*SNR_UNIT);
     }
     fflush(fp_trace);
 }
diff --git a/src/rtklib.h b/src/rtklib.h
index 4db84b52e..5b97cd37c 100644
--- a/src/rtklib.h
+++ b/src/rtklib.h
@@ -414,6 +414,7 @@ extern "C" {
 #define ARMODE_FIXHOLD 3                /* AR mode: fix and hold */
 #define ARMODE_WLNL 4                   /* AR mode: wide lane/narrow lane */
 #define ARMODE_TCAR 5                   /* AR mode: triple carrier ar */
+#define ARMODE_WL   6                   /* AR mode: wide lane ar */
 
 #define SBSOPT_LCORR 1                  /* SBAS option: long term correction */
 #define SBSOPT_FCORR 2                  /* SBAS option: fast correction */
@@ -424,7 +425,9 @@ extern "C" {
 #define POSOPT_SINGLE 1                 /* pos option: average of single pos */
 #define POSOPT_FILE  2                  /* pos option: read from pos file */
 #define POSOPT_RINEX 3                  /* pos option: rinex header pos */
-#define POSOPT_RTCM  4                  /* pos option: rtcm/raw station pos */
+#define POSOPT_RTCM  4                  /* pos option: rtcm station pos */
+#define POSOPT_RAW   5                  /* pos option: raw station pos */
+#define POSOPT_RINEX_DYN 6              /* pos option: rinex site occupation pos */
 
 #define STR_NONE     0                  /* stream type: none */
 #define STR_SERIAL   1                  /* stream type: serial */
@@ -542,6 +545,8 @@ typedef struct {        /* observation data record */
     double L[NFREQ+NEXOBS]; /* observation data carrier-phase (cycle) */
     double P[NFREQ+NEXOBS]; /* observation data pseudorange (m) */
     float  D[NFREQ+NEXOBS]; /* observation data doppler frequency (Hz) */
+    /* only used if refpos == POSOPT_RINEX_DYN */
+    double refpos[3];   /* station coordinates associated with this observation */
 } obsd_t;
 
 typedef struct {        /* observation data */
@@ -964,6 +969,7 @@ typedef struct {        /* processing options type */
     snrmask_t snrmask;  /* SNR mask */
     int sateph;         /* satellite ephemeris/clock (EPHOPT_???) */
     int modear;         /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
+    int wlmodear;       /* wide lane AR fix and hold (0: off, 1: on) */
     int glomodear;      /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
     int bdsmodear;      /* BeiDou AR mode (0:off,1:on) */
     int maxout;         /* obs outage count to reset bias */
@@ -1102,7 +1108,7 @@ typedef struct {        /* satellite status type */
     double resc[NFREQ]; /* residuals of carrier-phase (m) */
     uint8_t vsat[NFREQ]; /* valid satellite flag */
     uint16_t snr[NFREQ]; /* signal strength (*SNR_UNIT dBHz) */
-    uint8_t fix [NFREQ]; /* ambiguity fix flag (1:fix,2:float,3:hold) */
+    uint8_t fix [NFREQ]; /* ambiguity fix flag (1:float,2:fix,3:hold) */
     uint8_t slip[NFREQ]; /* cycle-slip flag */
     uint8_t half[NFREQ]; /* half-cycle valid flag */
     int lock [NFREQ];   /* lock counter of phase */
@@ -1168,6 +1174,9 @@ typedef struct {        /* receiver raw data control type */
     char opt[256];      /* receiver dependent options */
     int format;         /* receiver stream format */
     void *rcv_data;     /* receiver dependent data */
+
+    /* only used for STRFMT_SBP and STRFMT_SBPJSON */
+    int staid;          /* station id */
 } raw_t;
 
 typedef struct {        /* stream type */
diff --git a/src/rtkpos.c b/src/rtkpos.c
index bbb45b6ce..1e8543a4a 100644
--- a/src/rtkpos.c
+++ b/src/rtkpos.c
@@ -48,6 +48,7 @@
 *                           use integer types in stdint.h
 *-----------------------------------------------------------------------------*/
 #include <stdarg.h>
+#include <assert.h>
 #include "rtklib.h"
 
 /* constants/macros ----------------------------------------------------------*/
@@ -1278,7 +1279,7 @@ static int ddidx(rtk_t *rtk, int *ix)
 /* restore SD (single-differenced) ambiguity ---------------------------------*/
 static void restamb(rtk_t *rtk, const double *bias, int nb, double *xa)
 {
-    int i,n,m,f,index[MAXSAT],nv=0,nf=NF(&rtk->opt);
+    int i,n,m,f,index[MAXSAT]={0},index0[MAXSAT]={0},nv=0,nf=NF(&rtk->opt);
     
     trace(3,"restamb :\n");
     
@@ -1291,23 +1292,41 @@ static void restamb(rtk_t *rtk, const double *bias, int nb, double *xa)
             if (!test_sys(rtk->ssat[i].sys,m)||rtk->ssat[i].fix[f]!=2) {
                 continue;
             }
+            if (f==0) {
+                index0[n]=IB(i+1,0,&rtk->opt);
+            }
             index[n++]=IB(i+1,f,&rtk->opt);
         }
         if (n<2) continue;
         
-        xa[index[0]]=rtk->x[index[0]];
-        
-        for (i=1;i<n;i++) {
-            xa[index[i]]=xa[index[0]]-bias[nv++];
+        /* in case of ARMODE_WL, use float ambiguity for L1 */
+        if (rtk->opt.modear==ARMODE_WL) {
+            for (i=1;i<n;i++) {
+                if (f>0&&index0[0]!=0&&
+                    index0[i]!=0&&
+                    index[0] !=0&&
+                    index[i] !=0) {
+                    xa[index[i]]=bias[nv++]-(xa[index0[0]]-xa[index0[i]]-xa[index[0]]);
+                }
+            }
+        }
+        else {
+            xa[index[0]]=rtk->x[index[0]];
+
+            for (i=1;i<n;i++) {
+                xa[index[i]]=xa[index[0]]-bias[nv++];
+            }
         }
     }
+    assert(nv==nb);
 }
 /* hold integer ambiguity ----------------------------------------------------*/
 static void holdamb(rtk_t *rtk, const double *xa)
 {
     double *v,*H,*R;
-    int i,n,m,f,info,index[MAXSAT],nb=rtk->nx-rtk->na,nv=0,nf=NF(&rtk->opt);
-    
+    int i,n,m,f,info,index[MAXSAT]={0},index0[MAXSAT]={0},nb=rtk->nx-rtk->na;
+    int nv=0,nf=NF(&rtk->opt);
+
     trace(3,"holdamb :\n");
     
     v=mat(nb,1); H=zeros(nb,rtk->nx);
@@ -1319,16 +1338,43 @@ static void holdamb(rtk_t *rtk, const double *xa)
                 rtk->ssat[i].azel[1]<rtk->opt.elmaskhold) {
                 continue;
             }
+            if (f==0) {
+                index0[n]=IB(i+1,0,&rtk->opt);
+            }
             index[n++]=IB(i+1,f,&rtk->opt);
             rtk->ssat[i].fix[f]=3; /* hold */
         }
         /* constraint to fixed ambiguity */
-        for (i=1;i<n;i++) {
-            v[nv]=(xa[index[0]]-xa[index[i]])-(rtk->x[index[0]]-rtk->x[index[i]]);
-            
-            H[index[0]+nv*rtk->nx]= 1.0;
-            H[index[i]+nv*rtk->nx]=-1.0;
-            nv++;
+        if (rtk->opt.modear==ARMODE_WL) {
+            for (i=1;i<n;i++) {
+                if (f>0&&index0[0]!=0&&
+                    index0[i]!=0&&
+                    index[0] !=0&&
+                    index[i] !=0) {
+                    v[nv]=xa[index0[0]]-xa[index0[i]]
+                            -(xa[index[0]]-xa[index[i]])
+                            -(rtk->x[index0[0]]-rtk->x[index0[i]]
+                            -(rtk->x[index[0]]-rtk->x[index[i]]));
+
+                    trace(3,"hold_amb = %lf \n",xa[index0[0]]-xa[index0[i]]
+                                                -(xa[index[0]]-xa[index[i]]));
+
+                    H[index[0]+nv*rtk->nx]= -1.0;
+                    H[index[i]+nv*rtk->nx]=  1.0;
+                    H[index0[0]+nv*rtk->nx]= 1.0;
+                    H[index0[i]+nv*rtk->nx]=-1.0;
+                    nv++;
+                }
+            }
+        } else {
+            for (i=1;i<n;i++) {
+                v[nv]=(xa[index[0]]-xa[index[i]])
+                        -(rtk->x[index[0]]-rtk->x[index[i]]);
+
+                H[index[0]+nv*rtk->nx]= 1.0;
+                H[index[i]+nv*rtk->nx]=-1.0;
+                nv++;
+            }
         }
     }
     if (nv>0) {
@@ -1343,6 +1389,174 @@ static void holdamb(rtk_t *rtk, const double *xa)
     }
     free(v); free(H);
 }
+
+/* single to double-differenced wide-lane transformation matrix (D') ---------*/
+static int dd_wl_mat(rtk_t *rtk, double *D)
+{
+    int i,j,k,m,f,nb=0,nx=rtk->nx,na=rtk->na,nf=NF(&rtk->opt),nofix;
+
+    trace(3,"dd_wl_mat   :\n");
+
+    for (i=0;i<MAXSAT;i++) for (j=0;j<NFREQ;j++) {
+        rtk->ssat[i].fix[j]=0;
+    }
+    for (i=0;i<na;i++) D[i+i*nx]=1.0;
+
+    for (m=0;m<5;m++) { /* m=0:gps/sbs,1:glo,2:gal,3:bds,4:qzs */
+        nofix=(m==1&&rtk->opt.glomodear==0)||(m==3&&rtk->opt.bdsmodear==0);
+        if (nofix) {
+            continue;
+        }
+
+        k=na;
+        f=nf==2?1:2;
+        for (i=k;i<k+MAXSAT;i++) {
+            if (rtk->x[i]==0.0||
+                rtk->x[i+f*MAXSAT]==0.0||
+                !test_sys(rtk->ssat[i-k].sys,m)||
+                !rtk->ssat[i-k].vsat[0]||
+                !rtk->ssat[i-k].half[0]||
+                !rtk->ssat[i-k].vsat[f]||
+                !rtk->ssat[i-k].half[f]) {
+                    continue;
+            }
+            if (rtk->ssat[i-k].lock[0]>0&&
+                rtk->ssat[i-k].lock[f]>0&&
+                !(rtk->ssat[i-k].slip[f]&2)&&
+                !(rtk->ssat[i-k].slip[0]&2)&&
+                rtk->ssat[i-k].azel[1]>=rtk->opt.elmaskar) {
+                rtk->ssat[i-k].fix[0]=2; /* fix */
+                rtk->ssat[i-k].fix[f]=2; /* fix */
+                break;
+            }
+            else {
+                rtk->ssat[i-k].fix[0]=1;
+                rtk->ssat[i-k].fix[f]=1;
+            }
+        }
+
+        for (j=k;j<k+MAXSAT;j++) {
+            if (i==j||
+                rtk->x[j]==0.0||
+                rtk->x[j+f*MAXSAT]==0.0||
+                !test_sys(rtk->ssat[j-k].sys,m)||
+                !rtk->ssat[j-k].vsat[0]||
+                !rtk->ssat[j-k].vsat[f]) {
+                continue;
+            }
+            if (rtk->ssat[j-k].lock[0]>0&&
+                rtk->ssat[j-k].lock[f]>0&&
+                !(rtk->ssat[j-k].slip[0]&2)&&
+                !(rtk->ssat[j-k].slip[f]&2)&&
+                rtk->ssat[j-k].azel[1]>=rtk->opt.elmaskar) {
+                D[i+(na+nb)*nx]= 1.0;
+                D[i+f*MAXSAT+(na+nb)*nx]=-1.0;
+                D[j+(na+nb)*nx]=-1.0;
+                D[j+f*MAXSAT+(na+nb)*nx]=1.0;
+                nb++;
+                rtk->ssat[j-k].fix[f]=2; /* fix */
+                rtk->ssat[j-k].fix[0]=2; /* fix */
+            }
+            else {
+                rtk->ssat[j-k].fix[0]=1;
+                rtk->ssat[j-k].fix[f]=1;
+            }
+        }
+    }
+
+    trace(4,"Dw=\n"); tracemat(4,D,nx,na+nb,2,0);
+    return nb;
+}
+
+/* resolve integer ambiguity by LAMBDA ---------------------------------------*/
+static int resamb_WL(rtk_t *rtk, double *bias, double *xa)
+{
+    prcopt_t *opt=&rtk->opt;
+    int i,j,ny,nb,info,nx=rtk->nx,na=rtk->na;
+    double *D,*DP,*y,*Qy,*b,*db,*Qb,*Qab,*QQ,s[2];
+
+    trace(3,"resamb_WL : nx=%d\n",nx);
+
+    rtk->sol.ratio=0.0;
+
+    if (rtk->opt.modear!=ARMODE_WL||rtk->opt.thresar[0]<1.0||rtk->opt.nf<2) {
+        return 0;
+    }
+    /* single to double-differenced wide-lane transformation matrix (D') */
+    D=zeros(nx,nx);
+    if ((nb=dd_wl_mat(rtk,D))<=0) {
+        errmsg(rtk,"no valid double, wide-lane difference\n");
+        free(D);
+        return 0;
+    };
+    trace(2,"na = %d, nb = %d\n", na, nb);
+    ny=na+nb; y=mat(ny,1); Qy=mat(ny,ny); DP=mat(ny,nx);
+    b=mat(nb,2); db=mat(nb,1); Qb=mat(nb,nb); Qab=mat(na,nb); QQ=mat(na,nb);
+
+    /* transform single to DD wide-lane phase-bias (y=D'*x, Qy=D'*P*D) */
+    matmul("TN",ny, 1,nx,1.0,D ,rtk->x,0.0,y );
+    matmul("TN",ny,nx,nx,1.0,D ,rtk->P,0.0,DP);
+    matmul("NN",ny,ny,nx,1.0,DP,D     ,0.0,Qy);
+
+    /* phase-bias covariance (Qb) and real-parameters to bias covariance (Qab) */
+    for (i=0;i<nb;i++) for (j=0;j<nb;j++) Qb [i+j*nb]=Qy[na+i+(na+j)*ny];
+    for (i=0;i<na;i++) for (j=0;j<nb;j++) Qab[i+j*na]=Qy[   i+(na+j)*ny];
+
+    trace(4,"N(0)="); tracemat(4,y+na,1,nb,10,3);
+
+    /* lambda/mlambda integer least-square estimation */
+    if (!(info=lambda(nb,2,y+na,Qb,b,s))) {
+
+        trace(4,"N(1)="); tracemat(4,b   ,1,nb,10,3);
+        trace(4,"N(2)="); tracemat(4,b+nb,1,nb,10,3);
+
+        rtk->sol.ratio=s[0]>0?(float)(s[1]/s[0]):0.0f;
+        if (rtk->sol.ratio>999.9) rtk->sol.ratio=999.9f;
+
+        /* validation by popular ratio-test */
+        if (s[0]<=0.0||s[1]/s[0]>=opt->thresar[0]) {
+
+            /* transform float to fixed solution (xa=xa-Qab*Qb\(b0-b)) */
+            for (i=0;i<na;i++) {
+                rtk->xa[i]=rtk->x[i];
+                for (j=0;j<na;j++) rtk->Pa[i+j*na]=rtk->P[i+j*nx];
+            }
+            for (i=0;i<nb;i++) {
+                bias[i]=b[i];
+                y[na+i]-=b[i];
+            }
+            if (!matinv(Qb,nb)) {
+                matmul("NN",nb,1,nb, 1.0,Qb ,y+na,0.0,db);
+                matmul("NN",na,1,nb,-1.0,Qab,db  ,1.0,rtk->xa);
+
+                /* covariance of fixed solution (Qa=Qa-Qab*Qb^-1*Qab') */
+                matmul("NN",na,nb,nb, 1.0,Qab,Qb ,0.0,QQ);
+                matmul("NT",na,na,nb,-1.0,QQ ,Qab,1.0,rtk->Pa);
+
+                trace(3,"resamb : validation ok (nb=%d ratio=%.2f s=%.2f/%.2f)\n",
+                      nb,s[0]==0.0?0.0:s[1]/s[0],s[0],s[1]);
+
+                /* restore single-differenced ambiguity */
+                trace(2,"nb = %d\n",nb);
+                restamb(rtk,bias,nb,xa);
+            }
+            else nb=0;
+        }
+        else { /* validation failed */
+            errmsg(rtk,"ambiguity validation failed (nb=%d ratio=%.2f s=%.2f/%.2f)\n",
+                   nb,s[1]/s[0],s[0],s[1]);
+            nb=0;
+        }
+    }
+    else {
+        errmsg(rtk,"lambda error (info=%d)\n",info);
+        nb=0;
+    }
+    free(D); free(y); free(Qy); free(DP);
+    free(b); free(db); free(Qb); free(Qab); free(QQ);
+
+    return nb; /* number of ambiguities */
+}
 /* resolve integer ambiguity by LAMBDA ---------------------------------------*/
 static int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa)
 {
@@ -1567,8 +1781,15 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
         }
         else stat=SOLQ_NONE;
     }
+    /* resolve integer ambiguity by WL */
+    if (stat!=SOLQ_NONE&&rtk->opt.modear==ARMODE_WL) {
+        if (resamb_WL(rtk,bias,xa)>1) {
+            if (rtk->opt.wlmodear==1) holdamb(rtk,xa);
+            stat=SOLQ_FIX;
+        }
+    }
     /* resolve integer ambiguity by LAMBDA */
-    if (stat!=SOLQ_NONE&&resamb_LAMBDA(rtk,bias,xa)>1) {
+    else if (stat!=SOLQ_NONE&&resamb_LAMBDA(rtk,bias,xa)>1) {
         
         if (zdres(0,obs,nu,rs,dts,var,svh,nav,xa,opt,0,y,e,azel,freq)) {
             
@@ -1774,6 +1995,13 @@ extern int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
     for (nu=0;nu   <n&&obs[nu   ].rcv==1;nu++) ;
     for (nr=0;nu+nr<n&&obs[nu+nr].rcv==2;nr++) ;
     
+    if (opt->refpos==POSOPT_RINEX_DYN&&opt->mode!=PMODE_SINGLE&&
+        opt->mode!=PMODE_MOVEB) {
+        if (nr > 0) {
+            for (i=0;i<6;i++) rtk->rb[i]=i<3?obs[nu].refpos[i]:0.0;
+        }
+    }
+
     time=rtk->sol.time; /* previous epoch */
     
     /* rover position by single point positioning */