README
¶
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
| Message Type | Description | Deserialization | Serialization |
|---|---|---|---|
RINEX 2.11 Obs |
GNSS Observations | ✅ Supported | ✅ Supported |
RINEX 2.11 Nav |
GNSS Observations | ✅ Supported | ✅ Supported |
RINEX 2.11 Met |
GNSS Observations | ✅ Supported | 📝 To Do |
RINEX 3.05 Obs |
GNSS Observations | ✅ Supported | ✅ Supported |
RINEX 3.05 Nav |
GNSS Observations | ✅ Supported | ✅ Supported |
RINEX 3.05 Met |
GNSS Observations | ✅ Supported | 📝 To Do |
RINEX 4.01 Obs |
GNSS Observations | ✅ Supported | ✅ Supported |
RINEX 4.01 Nav |
GNSS Observations | ✅ Supported | ✅ Supported |
RINEX 4.01 Met |
GNSS Observations | ✅ Supported | 📝 To Do |
Supported BINEX Message Types
| Message Type | Description | Deserialization | Serialization |
|---|---|---|---|
0x00 |
Metadata | 🚧 Under Construction | 📝 To Do |
0x01-00 |
Ephemeris | 📝 To Do | 📝 To Do |
0x01-01 |
Ephemeris | ✅ Supported | 📝 To Do |
0x01-02 |
Ephemeris | ✅ Supported | 📝 To Do |
0x01-03 |
Ephemeris | ✅ Supported | 📝 To Do |
0x01-04 |
Ephemeris | 📝 To Do | 📝 To Do |
0x01-05 |
Ephemeris | ✅ Supported | 📝 To Do |
0x01-06 |
Ephemeris | ✅ Supported | 📝 To Do |
0x01-07 |
Ephemeris | ✅ Supported | 📝 To Do |
0x01-14 |
Ephemeris | ✅ Supported | 📝 To Do |
0x05 |
Position | ✅ Supported | 📝 To Do |
0x7d-00 |
Receiver State | ✅ Supported | 📝 To Do |
0x7e-00 |
Ancillary Site Data | ✅ Supported | 📝 To Do |
0x7e-01 |
Ancillary Site Data | ✅ Supported | 📝 To Do |
0x7f-00 |
Observable Data | 📝 To Do | 📝 To Do |
0x7f-01 |
Observable Data | 📝 To Do | 📝 To Do |
0x7f-02 |
Observable Data | 📝 To Do | 📝 To Do |
0x7f-03 |
Observable Data | ✅ Supported | 📝 To Do |
0x7f-04 |
Observable Data | 📝 To Do | 📝 To Do |
0x7f-05 |
Observable Data | ✅ Supported | 📝 To Do |
Supported Septentrio Binary Format (SBF) Message Types
| Message Type | Description | Deserialization | Serialization |
|---|---|---|---|
4001 |
DOP | ✅ Supported | ✅ Supported |
4002 |
GALNav | ✅ Supported | ✅ Supported |
4006 |
PVTCartesian | ✅ Supported | ✅ Supported |
4007 |
PVTGeodetic | ✅ Supported | ✅ Supported |
4008 |
PVTSatCartesian | ✅ Supported | ✅ Supported |
4011 |
RAIMStatistics | ✅ Supported | ✅ Supported |
4012 |
SatVisibility | ✅ Supported | ✅ Supported |
4013 |
ChannelStatus | ✅ Supported | ✅ Supported |
4014 |
ReceiverStatus | ✅ Supported | ✅ Supported |
4027 |
MeasEpoch | ✅ Supported | ✅ Supported |
4044 |
PosCart | ✅ Supported | ✅ Supported |
4075 |
ASCIIIn | ✅ Supported | ✅ Supported |
5891 |
GPSNav | ✅ Supported | ✅ Supported |
5914 |
ReceiverTime | ✅ Supported | ✅ Supported |
Supported RTCM 3 Message Types
| Message Type | Description | Deserialization | Serialization |
|---|---|---|---|
1077 |
GPS MSM 7 | ✅ Supported | ✅ Supported |
1087 |
GLONASS MSM 7 | ✅ Supported | ✅ Supported |
1097 |
Galileo MSM 7 | ✅ Supported | ✅ Supported |
1107 |
SBAS MSM 7 | ✅ Supported | ✅ Supported |
1117 |
QZSS MSM 7 | ✅ Supported | ✅ Supported |
1127 |
Beidou MSM 7 | ✅ Supported | ✅ Supported |
Supported Novatel Binary Message Types
| Message Type | Description | Deserialization | Serialization |
|---|---|---|---|
140 |
RANGECMP | ✅ Supported | 📝 To Do |
Supported U-blox Binary Message Types
| Message Type | Description | Deserialization | Serialization |
|---|---|---|---|
ubx-rxm-rawx |
GNSS Raw Observation Data | ✅ Supported | ✅ Supported |
NTRIP
| Package | Description | Support | | 'client' | NTRIP 2.0 Client | ✅ Supported |
Position
| Package | Description | Support |
|---|---|---|
ssp |
Single Point Positioning | ✅ Supported |
PubSub
| Package | Description | Support |
|---|---|---|
pubsub |
Implements publish-subscribe mechanisms for GNSS data. | ✅ Supported |
Velocity
| Package | Description | Support |
|---|---|---|
tdcp |
Time-Differenced Carrier Phase (TDCP) velocity estimation | ✅ Supported |
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.
Installation
go get gitlab.com/earthscope/gnsstools
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
Directories
¶
| Path | Synopsis |
|---|---|
|
cmd
|
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gnssconv
command
|
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ntrip/caster/publisher
command
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ntrip/caster/subscriber
command
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ntrip/ntrip-client
command
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ntrip/ntrip-test-client
command
|
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ntrip/ntrip2ws
command
|
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position/binex2spp
command
|
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test/dump_binex
command
|
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test/dump_bottle
command
|
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test/dump_fcn
command
|
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test/dump_novatel_ascii
command
|
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test/dump_novatel_binary
command
|
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test/dump_rnx
command
|
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test/dump_rtcm3
command
|
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test/dump_sbf
command
|
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test/dump_sp3
command
|
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test/dump_tdb_met
command
|
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test/dump_tdb_nav
command
|
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test/dump_tdb_obs
command
|
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test/dump_ublox
command
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test/dump_ublox_db
command
|
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test/dump_ublox_serial
command
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test/misc/cddis
command
|
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test/misc/gorelay
command
|
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test/misc/sbf2tsdb
command
|
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test/misc/simple_relay
command
|
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tiledb/bnav2tile
command
|
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tiledb/bnx2tile
command
|
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tiledb/bottle2tile
command
|
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tiledb/nova2tile
command
|
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tiledb/novab2tile
command
|
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tiledb/pos2tile
command
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tiledb/rnxm2tile
command
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tiledb/rnxn2tile
command
|
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tiledb/rnxo2tile
command
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tiledb/sbf2tile
command
|
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tiledb/sp32tile
command
|
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tiledb/teqc2tile
command
|
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tiledb/tile2avail
command
|
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tiledb/tile2rnx
command
|
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translation/binex2rtcm
command
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translation/nova2rnxo
command
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translation/novb2rnxo
command
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translation/sbf2rnx
command
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velocity/binex2tdcp
command
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velocity/rinex2tdcp
command
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velocity/sbf2tdcp
command
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pkg
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common/coordinates
Package coordinates provides functions for coordinate transformations between geodetic, ECEF, ENU, and body frames, including ionospheric pierce point calculations.
|
Package coordinates provides functions for coordinate transformations between geodetic, ECEF, ENU, and body frames, including ionospheric pierce point calculations. |
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encoding/sitelog
package sitelog handles a GNSS site with its antenna, receiver etc.
|
package sitelog handles a GNSS site with its antenna, receiver etc. |
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