awesome-gnss

Community list of open-source Global Navigation Satellite System (GNSS) software and resources 📡

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Contents

• Android apps (open-source)
• iOS apps (open-source)
• Desktop tools
• Web tools (proprietary)
• Data
• Social media
• Blogs
• Wikis
• Videos
• Articles
• Books
• Lists

Android apps (open-source)

• GPSTest (Google Play, F-Droid, Source code) - Supports dual-frequency GNSS for GPS, GLONASS, QZSS, BeiDou/COMPASS, Galileo, IRNSS, as well as various SBAS systems. Supports measuring accuracy using a ground truth location and file logging for NMEA, raw measurements, navigation messages, and location data. Logs are compatible with Google's GPS Measurement Tools suite to visualize data.
• GNSS Compare (Google Play, Documentation, Source code) - Supporting calculating positions from raw measurements for GPS and Galileo. Beta support for dual-frequency.
• Sat Stat (F-Droid, Source code) - Android Location, Sensor and Radio Network Status.
• GNSSLogger (Source code) - Log raw measurements for visualization in Google's GPS Measurement Tools suite. No longer maintained by Google. A proprietary Google fork of the project can be downloaded from Google Play here.
• RTKGPS+ (Google Play) - Android frontend of RTKLIB.

iOS apps (open-source)

• Overland-iOS (App Store, Source code) - An experiment at gathering data from an iPhone to test the Core Location API and its various settings.
• Open GPX Tracker (App Store, Source code) - Open source GPX tracker app written in Swift.

Desktop tools

• Google's GPS Measurement Tools suite (Download, Source code) - Desktop companion app for GNSSLogger to visualize and analyze raw measurements. Supports Windows, Mac, and Linux.
• EGNOS Toolkit (Download, Source code)- A set of tools to work with Satellite-Based Augmentation Systems (SBAS), specially EGNOS. Support Linux.
• GNSS-SDR (Download, Source code) - An open source GNSS software defined receiver. Supports Linux, Mac, and Windows.
• RTKLIB (Download, Source code) - An Open Source Program Package for GNSS Positioning. Has a companion Android app RTKGPS+. Supports Windows.
• RNXCMP (Download) - Open source software for Hatanaka compression/restoration of RINEX observation files.
• GPSTk (Download, Source code) - C++ open source library and a suite of applications for GPS processing problems.
• gLAB Lab (Download) - Performs precise modeling of GNSS observables (pseudorange and carrier phase) at the centimetre level, allowing both standalone GPS positioning and PPP. Supports RINEX-3.00, SP3, ANTEX and SINEX, as well as GPS, Galileo, and GLONASS. Developed under an European Space Agency (ESA) contract by the Universitat Politecnica de Catalunya (UPC). Free to download but not open-source.
• teqc (Download) - Translation, editing, and quality check of GNSS data in native and in RINEX/BINEX formats. Free to download but not open-source.
• BKG Ntrip Client (BNC) (Download) - BNC is an open-source multi-stream client designed for a variety of real-time GNSS applications. It was primarily designed for receiving data streams from any Ntrip supporting Broadcaster. It can compute a real-time Precise Point Positioning (PPP) solution from RTCM streams or RINEX files.
• Android GNSS Logger to RINEX converter (Source code) - A Python script that converts raw measurements in the CSV format supported by GnssLogger and GPSTest to the RINEX format.

Web tools (proprietary)

• Jason Positioning-as-a-Service - Upload GNSS data (e.g., RINEX, u-blox files, GNSS logger files) and process it using Post-processing Kinematic (PPK) strategy. Automatically picks a nearby reference receiver. Currently free in beta, but will become a paid service with a free tier for evaluation and low-volume usage.
• GNSS-Radar - GNSS coverage simulator over time for any given location.

Data

• Android smartphones high accuracy GNSS datasets by Google - Datasets collected from multiple Android phones, accompanied with high accuracy ground truth. This dataset has 39 traces collected from Pixel 4, Pixel 4 XL, and Xiaomi Mi8. They contain CN0, carrier phase, Doppler rate, satellite transmit time, signal arrival time, and other raw GNSS measurements of L1, L5 channels from GPS, Galileo, GLONASS, Beidou, and QZSS. Precise location ground truth files collected using NovAtel SPAN system are provided. Part of the Google Smartphone Decimeter Challenge at ION GNSS+ 2021.
• GPSTest Device Database - A list of device capabilities (e.g., supported GNSS constellations and carrier frequencies) crowd-sourced from users of the GPSTest Android app.

Social media

• IGS - International GNSS Service.
• GSA - European GNSS Agency.
• GNSS Status - GNSS satellites updated status.

Blogs

• rtklibexplorer - Using RTKLIB for precise positioning with low-cost GNSS receivers.
• BlackDotGNSS - Technical discussions related to GNSS data processing.

Wikis

• Navipedia by ESA - An online reference for GNSS systems and data processing.

Videos

• How to get one-meter location-accuracy from Android devices (Google I/O '18) by Google - Discussion of calculating position from raw GNSS measurements, including carrier phase measurements, as well as Wi-Fi RTT.

Articles

• Dual-frequency GNSS on Android devices by Sean Barbeau - Discussion of dual-frequency GNSS support on Android, including screenshots showing device support for dual-frequency in GPSTest.
• tl;dr — Dual-frequency GNSS on Android — Table of devices by Sean Barbeau - Table summarizing the above article.
• Measuring GNSS Accuracy on Android devices by Sean Barbeau - Discussion of estimated and actual accuracy on Android, including the feature in GPSTest to measure actual accuracy.
• Using GNSS Raw Measurements on Android Devices by GSA GNSS Raw Measurements Task Force - Technical discussion of how to determine a device's position based on raw pseudorange measurements provided via Android APIs.
• Android - Raw GNSS Measurements by Google - Lists Android devices that support raw GNSS measurements as well as documentation for GNSSLogger and Google's GPS Measurement Tools suite.
• GNSS Analysis Tools from Google by Inside GNSS - Discussion of Google's GPS Measurement Tools suite.
• SAR and GNSS, monitoring Earth from space by Toni M. del Hoyo in Worldsensing's Tech Blog - Overview on Global Navigation Satellite systems and on Synthetic Aperture Radar

Academic peer-reviewed publications

• Wanninger and Anja Heßelbarth1. "GNSS code and carrier phase observations of a Huawei P30 smartphone: quality assessment and centimeter-accurate positioning", GPS Solutions, 24:64, March 2020.

Books

• GNSS Data Processing books by UPC/gAGE - Theory and exercises to learn GNSS data processing (e.g., range modelling, navigation equations, Kalman filter)

Lists

• Upcoming satellite launches by GPS World
• Galileo
  • Supported devices (official)
  • Real-time status (official)
• QZSS
  • Supported devices (official)
• WAAS
  • Real-time status (official)
• Positioning Australia
  • Global Navigation Satellite System Data Centre (official)