gnsstools

GNSS Tools

This repository contains a Golang module with packages for working with data types related to GNSS (Global Navigation Satellite System). It includes support for serialization and deserialization of GNSS data in various formats (e.g., BINEX, RINEX, RTCM, ...), as well as utility functions for handling GNSS-specific computations. Additionally, the repository provides several command-line utilities for interacting with GNSS data.

├── LICENSE
├── README.md
├── cmd
├── go.mod
├── go.sum
└── pkg

Packages

Common

• gnss: Core GNSS data types

Encoding

• binex: BINEX deserialization.
• bottle: Bottle deserialization.
• fcn: Functions for retreiving GLONASS Fequency Channel Numbers.
• met: Meteorologic data serialization and deserialization.
• novatel: NovAtel receiver format deserialization.
• pos: EarthScope's daily integrated position solution format.
• rinex: RINEX format serialization and deserialization.
• rtcm: RTCM3 serialization and deserialization.
• sbf: Septentrio Binary Format (SBF) serialization and deserialization.
• sinex: SINEX deserialization (todo).
• sp3: SP3 deserialization.
• tdb: TileDB serialization and deserialization.
• ublox: U-Blox serialization and deserialization.
• vaisala: Vaisala weather data deserialization.

Supported RINEX Message Types

Supported BINEX Message Types

Supported Septentrio Binary Format (SBF) Message Types

Supported RTCM 3 Message Types

Supported Novatel Binary Message Types

Supported U-blox Binary Message Types

NTRIP

| Package | Description | Support | | 'client' | NTRIP 2.0 Client | ✅ Supported |

Position

PubSub

Velocity

Command-Line Tools

The cmd directory contains command-line tools for working with supported GNSS data formats. Each subdirectory under cmd represents a different tool.

Available Tools

gnss-inspect

A powerful tool for inspecting and analyzing GNSS data in various formats. Outputs detailed JSON for easy parsing and analysis.

Features:

• Supports 12+ GNSS formats (BINEX, RINEX, SBF, RTCM3, U-blox, NovAtel, etc.)
• JSON output for easy scripting and data analysis
• Network streaming support (BINEX)
• Cross-platform compatibility

Quick Start:

# Inspect RINEX observation file
gnss-inspect rnx --file data.25o

# Inspect BINEX with network streaming
gnss-inspect binex --host localhost:2101

# Filter GPS observations only
gnss-inspect rnx --file data.25o | jq 'select(.System == "GPS")'

Supported Formats:

• BINEX: Binary Exchange format with TCP streaming
• RINEX: Observation, Navigation, and Meteorological files (v2.11, v3.05, v4.02)
• SBF: Septentrio Binary Format
• RTCM3: Real-time correction messages
• U-blox: Binary and serial formats
• NovAtel: ASCII and binary formats
• SP3: Precise ephemeris
• Bottle: UNAVCO bottle format
• FCN: GLONASS Frequency Channel Numbers

See the gnss-inspect README for complete documentation.

gnss-convert

Convert GNSS data from RINEX to modern data formats like Apache Parquet and TileDB.

Features:

• RINEX to Parquet conversion with Hive partitioning
• RINEX to TileDB conversion
• Cloud-native S3 support
• Session-based data organization

Quick Start:

# Convert RINEX to TileDB on S3
gnss-convert convert --input rinex:./data.25o --output tiledb:s3://bucket/path

# Convert RINEX to Parquet locally
gnss-convert convert --input rinex:./data.25o --output parquet:./output

See the gnss-convert README for complete documentation.

ntrip-client

Connect to NTRIP casters and stream GNSS correction data.

Features:

• NTRIP 1.0/2.0 client support
• TLS/SSL encryption support
• Automatic reconnection
• Configurable authentication
• Real-time data streaming

Quick Start:

# Connect to NTRIP caster
ntrip-client connect --host caster.example.com:2101 --user user --pass pass --mountpoint MOUNT

# Connect with TLS
ntrip-client connect --host caster.example.com:443 --user user --pass pass --mountpoint MOUNT --tls

# Get source table
ntrip-client srctab --host caster.example.com:2101 --user user --pass pass

See the ntrip-client README for complete documentation.

Installation

go get gitlab.com/earthscope/gnsstools

Testing

Prerequisites

Some tests require TileDB. TileDB must be installed either:

• System-wide in /usr/local/lib (default)
• In the project directory at cmd/gnss-convert/tiledb/lib
• Or you can use the setup script to download it automatically

Running Tests

First-time setup (recommended for new clones):

# Automatically detects TileDB location, downloads if needed, and runs tests
./scripts/test-setup.sh

If TileDB is already installed (system-wide or project-local):

# Run all tests (assumes TileDB is in /usr/local/lib)
make test

# Run short tests only
make test-short

Manual setup (if TileDB is in /usr/local/lib):

# Set environment variables for system TileDB installation
export CGO_CPPFLAGS="-I/usr/local/include"
export CGO_LDFLAGS="-L/usr/local/lib -Wl,-rpath,/usr/local/lib"
go test ./...

Direct go test (requires manual environment setup):

# Run all tests
go test ./...

# Run specific package tests
go test ./pkg/encoding/rtcm/rtcm3/...

# Run tests with verbose output
go test -v ./...

Troubleshooting

"Library not loaded: @rpath/libtiledb.dylib"

This error occurs when TileDB is not found or CGO_LDFLAGS is not set. Solutions:

1. Use the setup script (recommended for first-time setup):

   ./scripts/test-setup.sh
   

   This will automatically detect TileDB, download it if needed, and run tests.

2. Use the Makefile (if TileDB is already installed):

   make test
   

3. Set environment variables manually:

   export CGO_CPPFLAGS="-I/usr/local/include"
   export CGO_LDFLAGS="-L/usr/local/lib -Wl,-rpath,/usr/local/lib"
   go test ./...
   

4. Install TileDB system-wide:

   cd cmd/gnss-convert && make install-tiledb-system
   

5. Download TileDB to project directory:

   cd cmd/gnss-convert && make tiledb-setup
   

Alternative: Use DYLD_LIBRARY_PATH (macOS only, not recommended)

# macOS
export DYLD_LIBRARY_PATH="/usr/local/lib:$DYLD_LIBRARY_PATH"
go test ./...

License

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Copyright (C) 2023 Henry Berglund, EarthScope Data Services