gnsstools

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

Encoding

• binex: BINEX deserialization.
• bottle: Bottle deserialization.
• fcn: Functions for retreiving GLONASS Fequency Channel Numbers.
• gnss: Core GNSS data types and utilities.
• 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	📝 To Do
RINEX 2.11 Met	GNSS Observations	✅ Supported	📝 To Do
RINEX 3.05 Obs	GNSS Observations	✅ Supported	✅ Supported
RINEX 3.05 Nav	GNSS Observations	✅ Supported	📝 To Do
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	🚧 Under Construction

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. For example:

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