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barbeau authored Mar 24, 2022
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### Android apps (open-source)

- **GPSTest** ([Google Play](https://play.google.com/store/apps/details?id=com.android.gpstest), [F-Droid](https://f-droid.org/packages/com.android.gpstest.osmdroid/), [Source code](https://github.com/barbeau/gpstest)) - 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](https://github.com/google/gps-measurement-tools) suite to [visualize data](https://developer.android.com/guide/topics/sensors/gnss#analyze).
- **GNSS Compare** ([Google Play](https://play.google.com/store/apps/details?id=com.galfins.gnss_compare), [Documentation](https://gnss-compare.readthedocs.io), [Source code](https://github.com/TheGalfins/GNSS_Compare)) - Supporting calculating positions from raw measurements for GPS and Galileo. Beta support for dual-frequency.
- **Sat Stat** ([F-Droid](https://f-droid.org/packages/com.vonglasow.michael.satstat/), [Source code](https://gitlab.com/mvglasow/satstat)) - Android Location, Sensor and Radio Network Status.
- **GNSSLogger** ([Source code](https://github.com/google/gps-measurement-tools#gnsslogger)) - Log raw measurements for visualization in Google's [GPS Measurement Tools](https://github.com/google/gps-measurement-tools) suite. No longer maintained by Google. A proprietary Google fork of the project can be downloaded from Google Play [here](https://play.google.com/store/apps/details?id=com.google.android.apps.location.gps.gnsslogger).
- **GNSS Compare** ([Google Play](https://play.google.com/store/apps/details?id=com.galfins.gnss_compare), [Documentation](https://gnss-compare.readthedocs.io), [Source code](https://github.com/TheGalfins/GNSS_Compare)) - Supporting calculating positions from raw measurements for GPS and Galileo. Beta support for dual-frequency.
- **RTKGPS+** ([Google Play](https://play.google.com/store/apps/details?id=gpsplus.rtkgps)) - Android frontend of [RTKLIB]((http://www.rtklib.com/)).
- **Sat Stat** ([F-Droid](https://f-droid.org/packages/com.vonglasow.michael.satstat/), [Source code](https://gitlab.com/mvglasow/satstat)) - Android Location, Sensor and Radio Network Status.

### iOS apps (open-source)

- **Overland-iOS** ([App Store](https://apps.apple.com/us/app/overland-gps-tracker/id1292426766), [Source code](https://github.com/aaronpk/Overland-iOS)) - An experiment at gathering data from an iPhone to test the Core Location API and its various settings.
- **Open GPX Tracker** ([App Store](https://apps.apple.com/app/open-gpx-tracker/id984503772), [Source code](https://github.com/merlos/iOS-Open-GPX-Tracker)) - Open source GPX tracker app written in Swift.
- **Overland-iOS** ([App Store](https://apps.apple.com/us/app/overland-gps-tracker/id1292426766), [Source code](https://github.com/aaronpk/Overland-iOS)) - An experiment at gathering data from an iPhone to test the Core Location API and its various settings.

### Desktop tools (open-source)

- **Google's GPS Measurement Tools suite** ([Download](https://github.com/google/gps-measurement-tools/releases), [Source code](https://insidegnss.com/gnss-analysis-tools-from-google/)) - Desktop companion app for GNSSLogger to visualize and analyze raw measurements. Supports Windows, Mac, and Linux.
- **EGNOS Toolkit** ([Download](https://sourceforge.net/projects/libegnos/files/), [Source code](https://sourceforge.net/projects/libegnos/))- A set of tools to work with Satellite-Based Augmentation Systems (SBAS), specially EGNOS. Support Linux.
- **GNSS-SDR** ([Download](https://gnss-sdr.org/), [Source code](https://github.com/gnss-sdr/gnss-sdr)) - An open source GNSS software defined receiver. Supports Linux, Mac, and Windows.
- **RTKLIB** ([Download](http://www.rtklib.com/), [Source code](https://github.com/tomojitakasu/RTKLIB)) - An Open Source Program Package for GNSS Positioning. Has a companion Android app [RTKGPS+](https://play.google.com/store/apps/details?id=gpsplus.rtkgps). Supports Windows.
- **RNXCMP** ([Download](https://terras.gsi.go.jp/ja/crx2rnx.html)) - Open source software for Hatanaka compression/restoration of RINEX observation files.
- **GPSTk** ([Download](http://www.gpstk.org), [Source code](https://github.com/SGL-UT/GPSTk)) - C++ open source library and a suite of applications for GPS processing problems.
- **Android GNSS Logger to RINEX converter** ([Source code](https://github.com/rokubun/android_rinex)) - A Python script that converts raw measurements in the CSV format supported by [GnssLogger](https://github.com/google/gps-measurement-tools#gnsslogger) and [GPSTest](https://github.com/barbeau/gpstest) to the RINEX format.
- **Anubis** ([Download](https://gnutsoftware.com/software/anubis)) - 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](https://igs.bkg.bund.de/ntrip/bnc)) - 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](http://software.rtcm-ntrip.org/).
- **Android GNSS Logger to RINEX converter** ([Source code](https://github.com/rokubun/android_rinex)) - A Python script that converts raw measurements in the CSV format supported by [GnssLogger](https://github.com/google/gps-measurement-tools#gnsslogger) and [GPSTest](https://github.com/barbeau/gpstest) to the RINEX format.
- **EGNOS Toolkit** ([Download](https://sourceforge.net/projects/libegnos/files/), [Source code](https://sourceforge.net/projects/libegnos/))- A set of tools to work with Satellite-Based Augmentation Systems (SBAS), specially EGNOS. Support Linux.
- [FGI-GSRx](https://www.maanmittauslaitos.fi/en/fgi-gsrx-os) ([Source code](https://github.com/nlsfi/FGI-GSRx)) - 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](https://github.com/GeoscienceAustralia/ginan)) - A processing package being developed by [Geoscience Australia](http://www.ga.gov.au/) to provide real-time corrections to positioning data from the Global Navigation Satellite System (GNSS) constellations.
- [goGPS project](https://gogps-project.github.io/) - 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](https://github.com/goGPS-Project/goGPS_Java) and [goGPS_MATLAB](https://github.com/goGPS-Project/goGPS_MATLAB).
- [FGI-GSRx](https://www.maanmittauslaitos.fi/en/fgi-gsrx-os) ([Source code](https://github.com/nlsfi/FGI-GSRx)) - 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).
- **Google's GPS Measurement Tools suite** ([Download](https://github.com/google/gps-measurement-tools/releases), [Source code](https://insidegnss.com/gnss-analysis-tools-from-google/)) - Desktop companion app for GNSSLogger to visualize and analyze raw measurements. Supports Windows, Mac, and Linux.
- **GNSS-SDR** ([Download](https://gnss-sdr.org/), [Source code](https://github.com/gnss-sdr/gnss-sdr)) - An open source GNSS software defined receiver. Supports Linux, Mac, and Windows.
- **GPSTk** ([Download](http://www.gpstk.org), [Source code](https://github.com/SGL-UT/GPSTk)) - C++ open source library and a suite of applications for GPS processing problems.
- **RNXCMP** ([Download](https://terras.gsi.go.jp/ja/crx2rnx.html)) - Open source software for Hatanaka compression/restoration of RINEX observation files.
- **RTKLIB** ([Download](http://www.rtklib.com/), [Source code](https://github.com/tomojitakasu/RTKLIB)) - An Open Source Program Package for GNSS Positioning. Has a companion Android app [RTKGPS+](https://play.google.com/store/apps/details?id=gpsplus.rtkgps). Supports Windows.

### Desktop tools (proprietary)

Expand All @@ -56,8 +56,8 @@ Have something to add or change? Open a [pull request](https://github.com/barbea

### Web tools (proprietary)

- [Jason Positioning-as-a-Service](https://jason.rokubun.cat) - 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](http://www.taroz.net/GNSS-Radar.html) - GNSS coverage simulator over time for any given location.
- [Jason Positioning-as-a-Service](https://jason.rokubun.cat) - 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.

### Libraries and interfaces

Expand All @@ -71,14 +71,14 @@ Have something to add or change? Open a [pull request](https://github.com/barbea

### Social media

- [IGS](https://twitter.com/IGSorg) - International GNSS Service.
- [EUSPA](https://twitter.com/EU4Space) - EU Agency for the Space Programme.
- [GNSS Status](https://twitter.com/GNSS_Status) - GNSS satellites updated status.
- [IGS](https://twitter.com/IGSorg) - International GNSS Service.

### Blogs

- [rtklibexplorer](https://rtklibexplorer.wordpress.com/) - Using RTKLIB for precise positioning with low-cost GNSS receivers.
- [BlackDotGNSS](https://www.blackdotgnss.com/blog/) - Technical discussions related to GNSS data processing.
- [rtklibexplorer](https://rtklibexplorer.wordpress.com/) - Using RTKLIB for precise positioning with low-cost GNSS receivers.

### Wikis

Expand All @@ -90,32 +90,32 @@ Have something to add or change? Open a [pull request](https://github.com/barbea

### Articles

- [*Android - Raw GNSS Measurements*](https://developer.android.com/guide/topics/sensors/gnss) by Google - Lists Android devices that support raw GNSS measurements as well as documentation for [GNSSLogger](https://github.com/google/gps-measurement-tools#gnsslogger) and Google's [GPS Measurement Tools](https://github.com/google/gps-measurement-tools) suite.
- [*Dual-frequency GNSS on Android devices*](https://medium.com/@sjbarbeau/dual-frequency-gnss-on-android-devices-152b8826e1c) 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*](https://medium.com/@sjbarbeau/tl-dr-dual-frequency-gnss-on-android-table-of-devices-9be4bbb83a7b) by Sean Barbeau - Table summarizing the above article.
- [*Measuring GNSS Accuracy on Android devices*](https://medium.com/@sjbarbeau/measuring-gnss-accuracy-on-android-devices-6824492a1389) 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*](https://www.gsa.europa.eu/system/files/reports/gnss_raw_measurement_web_0.pdf) 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*](https://developer.android.com/guide/topics/sensors/gnss) by Google - Lists Android devices that support raw GNSS measurements as well as documentation for [GNSSLogger](https://github.com/google/gps-measurement-tools#gnsslogger) and Google's [GPS Measurement Tools](https://github.com/google/gps-measurement-tools) suite.
- [*GNSS Analysis Tools from Google*](https://insidegnss.com/gnss-analysis-tools-from-google/) by Inside GNSS - Discussion of Google's [GPS Measurement Tools](https://github.com/google/gps-measurement-tools) suite.
- [*SAR and GNSS, monitoring Earth from space*](https://medium.com/worldsensing-techblog/sar-and-gnss-monitoring-earth-from-space-24d12c31b3b) by Toni M. del Hoyo in Worldsensing's Tech Blog - Overview on Global Navigation Satellite systems and on Synthetic Aperture Radar
- [Improving urban GPS accuracy for your app](https://www.gpsworld.com/google-to-improve-urban-gps-accuracy-for-apps/) 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*](https://medium.com/@sjbarbeau/measuring-gnss-accuracy-on-android-devices-6824492a1389) 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*](https://medium.com/worldsensing-techblog/sar-and-gnss-monitoring-earth-from-space-24d12c31b3b) 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*](https://www.gsa.europa.eu/system/files/reports/gnss_raw_measurement_web_0.pdf) 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.

### 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"](https://link.springer.com/content/pdf/10.1007/s10291-020-00978-z.pdf), GPS Solutions, 24:64, March 2020.

### Books

- [GNSS Data Processing books](https://gage.upc.es/forum/gnss-books/) by UPC/gAGE - Theory and exercises to learn GNSS data processing (e.g., range modelling, navigation equations, Kalman filter)
- [Global Navigation Satellite Systems - Education Curriculum](http://www.unoosa.org/pdf/icg/2013/Ed_GNSS_eBook.pdf) by United Nations Office for Outer Space Affairs. Good glossary of GNSS terms.
- [GNSS Data Processing books](https://gage.upc.es/forum/gnss-books/) by UPC/gAGE - Theory and exercises to learn GNSS data processing (e.g., range modelling, navigation equations, Kalman filter)

### Lists

- [Upcoming satellite launches](https://www.gpsworld.com/resources/upcoming-gnss-satellite-launches/) by GPS World
- Galileo
- [Supported devices (official)](https://www.usegalileo.eu/EN/inner.html#data=smartphone)
- [Real-time status (official)](https://www.gsc-europa.eu/system-service-status/constellation-information)
- Positioning Australia
- [Global Navigation Satellite System Data Centre (official)](https://gnss.ga.gov.au/)
- QZSS
- [Supported devices (official)](https://qzss.go.jp/en/usage/products/list.html#smartphones-tablet-computers)
- WAAS
- [Real-time status (official)](https://www.nstb.tc.faa.gov/RT_WaasSatelliteStatus.htm)
- Positioning Australia
- [Global Navigation Satellite System Data Centre (official)](https://gnss.ga.gov.au/)

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