awesome-gnss

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

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Contents

• Android apps (open-source)
• iOS apps (open-source)
• Desktop tools (open-source)
• Desktop tools (proprietary)
• Web tools (proprietary)
• Libraries and interfaces
• Data
• Social media
• Blogs
• Wikis
• Videos
• Articles
• Peer-reviewed publications
• 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.
• 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 No longer maintained by Google.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.
• GNSS Compare (Google Play, Documentation, Source code) - Supporting calculating positions from raw measurements for GPS and Galileo. Beta support for dual-frequency.
• RTKGPS+ (Google Play) - Android frontend of RTKLIB.
• Sat Stat (F-Droid, Source code) - Android Location, Sensor and Radio Network Status.

iOS apps (open-source)

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

Desktop tools (open-source)

• 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.
• Anubis (Download) - Quality checks for GNSS data in RINEX2/3 format. Basic version is free and open-source, Pro and Real-time features available at a cost.
• 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. See related open-source tools for Ntrip on this page.
• EGNOS Toolkit (Download, Source code)- A set of tools to work with Satellite-Based Augmentation Systems (SBAS), specially EGNOS. Support Linux.
• FGI-GSRx (Source code) - An open-source software receiver in MATLAB used to develop, test and validate novel receiver processing algorithms for robust, resilient and precise Position, Navigation and Timing (PNT). Developed by the Finnish Geospatial Research Institute (FGI).
• Ginan (Source code) - A processing package being developed by Geoscience Australia to provide real-time corrections to positioning data from the Global Navigation Satellite System (GNSS) constellations.
• goGPS project - An open-source software package designed to improve the positioning accuracy of low-cost GPS devices by relative positioning. There are several versions, including goGPS_Java and goGPS_MATLAB.
• 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.
• GPSPACE - Fortran script for Precise Point Positioning.
• GNSS-SDR (Download, Source code) - An open source GNSS software defined receiver. Supports Linux, Mac, and Windows.
• GraphGNSSLib (Source code) - An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization.
• GPSTk (Download, Source code) - C++ open source library and a suite of applications for GPS processing problems.
• RINEX-Cli (Download) - An Open-source application to process RINEX data. It integrates several post processing algorithms, a Precise Position solver (SPP/PPP) and the formation of CGGTTS (special PVT) solutions for remote clock comparison. RINEX-Cli is the 100% open-source combination of teqc, Anubis and gLAB.
• RNXCMP (Download) - Open source software for Hatanaka compression/restoration of RINEX observation files.
• RTKLIB (Download, Source code) - An Open Source Program Package for GNSS Positioning. Has a companion Android app RTKGPS+. Supports Windows.
• TinkerRTKWiFiNetwork (Source code) - Arduino sketches for the TinkerRTK base station and rover communicating over a WiFi network.

Desktop tools (proprietary)

• GFZRNX - RINEX GNSS Data Conversion and Manipulation Toolbox Download - Supports various translation, conversion, and quality check operations on RINEX data.
• 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.
• teqc (Download) - Translation, editing, and quality check of GNSS data in native and in RINEX/BINEX formats. Free to download. End-of-life as of February 25, 2019.

Web tools (proprietary)

• GNSS-Radar - GNSS coverage simulator over time for any given location.
• 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.
• HowToCreate GPS/GNSS log file parser - Upload gnss_log output from GPSTest or Google's GnssLogger, or a CSV file containing the same columns. The tool processes the data, and applies a static Kalman filter to refine the position of the GNSS device, much better than basic averaging, since it can use the estimated accuracy for weighting.

Libraries and interfaces

• CGGTTS - support for CGGTTS (special PVT) solutions in Rust. Includes both a file parser and a sky tracker for CGGTTS track scheduling. CGGTTS is used in remote clock comparison, by mean of common satellite vehicle in sight.
• earth-gravitational-model - A lightweight port of the GeoTools EarthGravitationalModel as a Java library to convert WGS84 (GNSS) altitude to EGM84 (height above mean sea level). Can be used on Android without requiring the entire GeoTools suite.
• GeoRust - RINEX - RINEX files parsing and generation as a Rust library. Python bindings are under development.
• GeoRust - SINEX - SINEX files parsing.
• GeoRust - SP3 - SP3 Precise Orbits by IGS - files parsing and processing in Rust.
• GNSS - Rust - GNSS definitions in Rust. Includes detailed SBAS support.
• giulioscattolin/google-gnss-logger - A Java library that facilitates reading, writing and processing of sensor events and raw GNSS measurements encoded according to the Google's GNSS Logger application format.
• ntripstreams - Python interface to transfer GNSS and related data between GNSS instruments, Ntrip caster and users using the Ntrip protocol.
• gps_pvt - An Open Source Program Package for GNSS Positioning which is runnable and controllable via Ruby. RINEX ver.2/3, SP3, ANTEX, and u-blox UBX parsers are included.
• RTK - Rust - Precise Positioning in Rust.

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.
• UrbanNav - An Open-Sourcing Localization Dataset Collected in Asian Urban Canyons, including Tokyo and Hong Kong.

Social media

• EUSPA - EU Agency for the Space Programme.
• GNSS Status - GNSS satellites updated status.
• IGS - International GNSS Service.

Blogs

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

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

• 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.
• 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.
• GNSS Analysis Tools from Google by Inside GNSS - Discussion of Google's GPS Measurement Tools suite.
• Improving urban GPS accuracy for your app by Frank van Diggelen and Jennifer Wang at Google - Description of Google's improvements to the fused location provider using 3D mapping aided corrections.
• 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.
• 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
• 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.

Peer-reviewed publications

Positioning with raw measurements

• Crosta, P., Galluzzo, G., Rodriguez, R.L., Otero, X., Zoccarato, P., De Pasquale, G, & Melara, A. (2019). Galileo Hits the Spot, InsideGNSS, September 29, 2019. https://insidegnss.com/galileo-hits-the-spot/
• Everett, T. (2022). "3rd Place Winner: 2022 Smartphone Decimeter Challenge: An RTKLIB Open-Source Based Solution," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 2265-2275. https://doi.org/10.33012/2022.18376
• Fortunato, M., Ravanelli, M., & Mazzoni, A. (2019). Real-time geophysical applications with Android GNSS raw measurements. Remote Sensing, 11(18), 2113. https://www.mdpi.com/2072-4292/11/18/2113
• Gogoi, N., Minetto, A., & Dovis, F. (2019). On the cooperative ranging between android smartphones sharing raw GNSS measurements. In 2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall) (pp. 1-5). IEEE. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8891320
• Gogoi, N., Minetto, A., Linty, N., & Dovis, F. (2018). A controlled-environment quality assessment of android GNSS raw measurements. Electronics, 8(1), 5. https://www.mdpi.com/2079-9292/8/1/5
• Håkansson, M. (2019). Characterization of GNSS observations from a Nexus 9 Android tablet. GPS solutions, 23(1), 21. https://link.springer.com/article/10.1007/s10291-018-0818-7
• Hu, J.; Yi, D.; Bisnath, S. A Comprehensive Analysis of Smartphone GNSS Range Errors in Realistic Environments. Sensors 2023, 23, 1631. https://doi.org/10.3390/s23031631
• Lee, D. K., Nedelkov, F., & Akos, D. M. (2022). Assessment of android network positioning as an alternative source of navigation for drone operations. Drones, 6(2), 35.https://www.mdpi.com/2504-446X/6/2/35
• Li, B., Miao, W., Chen, G. et al. (2022). Ambiguity resolution for smartphone GNSS precise positioning: effect factors and performance. J Geod 96, 63. https://doi.org/10.1007/s00190-022-01652-7
• Li, G., & Geng, J. (2019). Characteristics of raw multi-GNSS measurement error from Google Android smart devices. GPS Solutions, 23, 1-16. https://link.springer.com/article/10.1007/s10291-019-0885-4
• Li, G., & Geng, J. (2022). Android multi-GNSS ambiguity resolution in the case of receiver channel-dependent phase biases. Journal of Geodesy, 96(10), 72. https://link.springer.com/article/10.1007/s00190-022-01656-3
• Li, X., Wang, H., Li, X. et al. (2022). PPP rapid ambiguity resolution using Android GNSS raw measurements with a low-cost helical antenna. J Geod 96, 65. https://doi.org/10.1007/s00190-022-01661-6
• Liu, W., Shi, X., Zhu, F., Tao, X., & Wang, F. (2019). Quality analysis of multi-GNSS raw observations and a velocity-aided positioning approach based on smartphones. Advances in Space Research, 63(8), 2358-2377. https://www.sciencedirect.com/science/article/pii/S0273117719300122
• Marinaro, G. (2019). Improved Positioning techniques for positioning based on raw GNSS measurements from smartphones. Politecnico di Torino, Corso di laurea magistrale in Ict For Smart Societies (Ict Per La Società Del Futuro). https://webthesis.biblio.polito.it/11702/
• Ng, H., Zhang, G., Luo, Y., Hsu, L. (2021). Urban positioning: 3D mapping-aided GNSS using dual-frequency pseudorange measurements from smartphones. NAVIGATION. 2021; 68: 727– 749. https://doi.org/10.1002/navi.448
• Paziewski, J., Fortunato, M., Mazzoni, A. & Odolinski, R. (2021). An analysis of multi-GNSS observations tracked by recent Android smartphones and smartphone-only relative positioning results, Measurement, Volume 175, 2021, https://doi.org/10.1016/j.measurement.2021.109162.
• Riley, S., Landau, H., Gomez, V., Mishukova, N., Lentz, W. & Clare, A. (2018). Positioning with Android: GNSS observables. GPS World. January 17, 2018. https://www.gpsworld.com/positioning-with-android-gnss-observables/
• Suzuki, T. (2023). Precise Position Estimation Using Smartphone Raw GNSS Data Based on Two-Step Optimization. Sensors 23.3 (2023): 1205. https://www.mdpi.com/1424-8220/23/3/1205
• Siddakatte, R., Broumandan, A., & Lachapelle, G. (2017). Performance evaluation of smartphone GNSS measurements with different antenna configurations. In Proceedings of the international navigation conference. https://schulich.ucalgary.ca/labs/position-location-and-navigation/files/position-location-and-navigation/siddakatte2017conference_c.pdf
• Tao, X., Liu, W., Wang, Y., Li, L., Zhu, F., & Zhang, X. (2023). Smartphone RTK positioning with multi-frequency and multi-constellation raw observations: GPS L1/L5, Galileo E1/E5a, BDS B1I/B1C/B2a. Journal of Geodesy, 97(5), 43. https://link.springer.com/article/10.1007/s00190-023-01731-3
• Wanninger, L. & Heßelbarth, A. (2020). GNSS code and carrier phase observations of a Huawei P30 smartphone: quality assessment and centimeter-accurate positioning, GPS Solutions, 24:64, March 2020. https://link.springer.com/content/pdf/10.1007/s10291-020-00978-z.pdf
• Yong, C.Z., Odolinski, R., Zaminpardaz, S., Moore, M., Rubinov, E., Er, J., Denham, M. (2021). Instantaneous, Dual-Frequency, Multi-GNSS Precise RTK Positioning Using Google Pixel 4 and Samsung Galaxy S20 Smartphones for Zero and Short Baselines. Sensors 2021, 21, 8318. https://doi.org/10.3390/s21248318.
• Zangenehnejad, F., & Gao, Y. (2023). Stochastic Modeling of Smartphones GNSS Observations Using LS-VCE and Application to Samsung S20. Sensors, 23(7), 3478. https://www.mdpi.com/1424-8220/23/7/3478
• Zangenehnejad, F., Jiang, Y., & Gao, Y. (2023). GNSS Observation Generation from Smartphone Android Location API: Performance of Existing Apps, Issues and Improvement. Sensors, 23(2), 777. https://www.mdpi.com/1424-8220/23/2/777

Jamming and spoofing

• Ceccato, S., Formaggio, F., Caparra, G., Laurenti, N. & Tomasin, S., "Exploiting side-information for resilient GNSS positioning in mobile phones," 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, USA, 2018, pp. 1515-1524, doi: 10.1109/PLANS.2018.8373546.
• Miralles, D., Levigne, N., Akos, D. M., Blanch, J., & Lo, S. (2018). Android raw GNSS measurements as the new anti-spoofing and anti-jamming solution. In Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) (pp. 334-344). https://www.ion.org/publications/abstract.cfm?articleID=15883
• O'Driscoll, C., Winkel, J., & Hernandez, I. F. (2023). Assisted NMA proof of concept on Android smartphones. In 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) (pp. 559-569). IEEE. https://ieeexplore.ieee.org/abstract/document/10139953
• Rustamov, A., Minetto, A., & Dovis, F. (2023). Improving GNSS spoofing awareness in smartphones via statistical processing of raw measurements. IEEE Open Journal of the Communications Society, 4, 873-891. https://ieeexplore.ieee.org/abstract/document/10081330
• Spens, N., Lee, D. K., Nedelkov, F., & Akos, D. (2022). Detecting GNSS jamming and spoofing on Android devices. NAVIGATION: Journal of the Institute of Navigation, 69(3). https://navi.ion.org/content/navi/69/3/navi.537.full.pdf
• Strizic, L., Akos, D. M., & Lo, S. (2018, February). Crowdsourcing GNSS jammer detection and localization. In Proceedings of the 2018 International Technical Meeting of The Institute of Navigation (pp. 626-641). https://www.ion.org/publications/pdf.cfm?articleID=15546
• Wang, Z., Li, H., Wen, J., & Lu, M. (2021). Prototype Development of an Online Spoofer Localization System Using Raw GNSS Measurements of Android Smartphones. In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 1989-1999). https://www.ion.org/publications/pdf.cfm?articleID=17995

Books

• Global Navigation Satellite Systems - Education Curriculum by United Nations Office for Outer Space Affairs. Good glossary of GNSS terms.
• 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)
• Positioning Australia
  • Global Navigation Satellite System Data Centre (official)
• QZSS
  • Supported devices (official)
• WAAS
  • Real-time status (official)