gAGE Using GPSTK GNSS Learning Research SEAGAL Hanoi 2009

research group of Astronomy and Geomatics Barcelona, Spain
Using the GPSTk for GNSS learning and research
Salazar D., Hernandez-Pajares M., Juan J.M. and Sanz J. gAGE/UPC, Barcelona, Spain
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SEAGAL Project Workshop. Hanoi, 2009.
Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.
Contents
GPSTk overview Some current features GPSTk advantages and disadvantages How to get the GPSTk GPSTk basics GNSS Data Structures (GDS) Processing paradigm Some processing examples Comparison with other GPS software Conclusions
SEAGAL Project Workshop. Hanoi, 2009. Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.
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GPSTk overview
The GPSTk is: A library to write GNSS software Includes example applications. The GPSTk is Free Software (LGPL): Both non-commercial and commercial applications.
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GPSTk overview
The LGPL free software license means that: The original code belonged to ARL:UT, but it was released to the public. New features added to the library are property of their authors, but them must be also released as LGPL. New software developed taking advantage of the GPSTk library (linking) is property of their authors.
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GPSTk overview
The LGPL free software license means that: In summary, with the GPSTk you can develop both free and non-free (commercial) software. This license is very convenient both for companies and educational/research institutions.
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GPSTk overview
Initiated at ARL:UT, it now has several official developers around the world. The GPSTk is easy to extend and maintain, lowering programming costs. It is very well documented. Website: http://www.gpstk.org
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GPSTk overview
It is written in ISO-standard C++. Design is object-oriented, easing maintenance and extensibility. It is VERY portable:
Operative System portability: Works in Windows, Linux, Mac OSX, AIX, etc. Hardware portability: Big and small systems, both 32 and 64 bits.
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GPSTk portability
GUMSTIX Miniature computer
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NOKIA Internet Tablets
Some current features

Time conversions. RINEX files reading/writing: Observation Ephemeris Meteorological Ephemeris computation: Broadcast SP3.
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Mathematical tools: Matrices, vectors, interpolation, numeric integration, LMS, W-LMS, Kalman filter, etc. Application development support: Exceptions handling. Command line framework. Configuration files management. Code positioning, RAIM, DGPS and Precise Point Positioning (PPP) support.
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Several tropospheric models: Saastamoinen, Goad-Goodman, New Brunswick, Niell, etc. Classes for precise modeling: Phase centers, Wind-up, gravitational delay, etc. Tidal models: Solid tides, Ocean loading, Pole tides
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Full support for Antex (antenna) files. Advanced GNSS Data Structures (GDS) for data processing and management. Other features like:
Stocastic models Probabilistic functions (normal, chi-square, etc) Run-time programmable solvers!!!
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GPSTk advantages
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Programmers don't have to reinvent the wheel: Don't use your time to program, test and debug common, non-interesting routines (like RINEX parsing, for instance) Use your time to learn and experiment. Use your time to develop new techniques. You can trust on the GPSTk: Its performance has been validated with other state-of-the-art GPS software suites.
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GPSTk advantages
It includes data management facilities that support clean and easy to maintain source code. It is open-source, and therefore: Great for learning how complex algorithms work. It eases reimplementation in other languagues and/or hardware.
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GPSTk disadvantages
The programmer needs C++ knowledge to use it effectively. C++ is very flexible, but it may become complex and exotic. The compilation process is slower and more complex than using interpreted languages. Many engineers are more confortable with tools like Mathlab (although they are very slow).
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How to get the GPSTk

The GPSTk requires:

C++ compiler (g++, MS Visual C++, etc) Jam or make Optional: doxygen, perl, gnuplot
Easy installation:
Download source code from GPSTk website or subversion repository Decompress if needed Compile: jam is currently the easiest way Generate documentation with doxygen
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GPSTk basics: Vectors

Vector<double>vect1(4); Vector<double>vect2(4); for(inti=0;i<4;++i) { vect1(i)=3.0+i; vect2(i)=5.02.5*i; } Vector<double>vect3=vect1+vect2; cout<<vect1<<endl; cout<<vect2<<endl; cout<<vect3<<endl;

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GPSTk basics: Matrices

Matrix<double>A(3,3,5.0); Matrix<double>I=ident<double>(3); Matrix<double>B=A2.0*I; Matrix<double>C(3,3); for(introw=0;row<3;++row) { for(intcol=0;col<3;++col) { C(row,col)=row+0.9*B(row,col); } } Matrix<double>CT=transpose(C); Matrix<double>D=inverseChol(CT*C);

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GPSTk basics: Solvers

Vector<double>vect(3,0.0); vect(0)=94.50; vect(1)=112.01; vect(2)=121.86; Matrix<double>mat(3,2,0.0); for(introw=0;row<3;++row) for(intcol=0;col<2;++col) mat(row,col)=1.5+row+0.9*row*col; SolverLMSsolver; solver.Compute(vect,mat); cout<<solver.solution(0)<<":" <<solver.solution(1)<<endl;
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GPSTk basics: Time

DayTimeepoch1(2009,10,28,10,30,0.0); DayTimeepoch2=epoch1+3600.0; cout<<epoch1<<endl <<epoch2<<endl; cout<<epoch1.GPSfullweek()<<"" <<epoch1.DOY()<<"" <<epoch1.GPSsecond()<<endl;
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GPSTk basics: Position

PositionposBCN(4789031.0, 176583.0, 4195015.0); PositionposHANOI; posHANOI.setGeodetic(21.033,105.85,308.0); PositionposSAT(22300542.564, 9466839.117, 10798193.375); cout<<posBCN<<endl <<posHANOI<<endl <<posHANOI.elevation(posSAT)<<":" <<posHANOI.azimuth(posSAT)<<endl;
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GPSTk basics: RINEX

RinexObsStreamrinexData("bahr1620.04o"); RinexObsHeaderrinexHeader; rinexData>>rinexHeader; cout<<rinexHeader.markerName<<":" <<rinexHeader.antType<<":" <<rinexHeader.firstObs<<endl; RinexObsDataobsData; while(rinexData>>obsData) { obsData.dump(cout); }

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GPSTk basics: Ephemeris

SP3EphemerisStoreSP3EphList; SP3EphList.loadFile("igs13354.sp3"); SatIDsat(10,SatID::systemGPS); DayTimeepoch(SP3EphList.getInitialTime()); DayTimeepochEnd(SP3EphList.getFinalTime()); while(epoch<epochEnd){ epoch+=60.0; XvtsvPos; try{ svPos=SP3EphList.getXvt(sat,epoch); cout<<epoch.DOYsecond()<<"" <<svPos.x[0]<<"" <<svPos.x[1]<<"" <<svPos.x[2]<<endl; } catch(InvalidRequest&e){continue;} }
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GPSTk basics: Ephemeris

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GPSTk basics: Solid tides

PositionposHANOI; posHANOI.setGeodetic(21.033,105.85,308.0); SolidTidessolid; DayTimeepoch(2009,10,28,0,0,0.0); DayTimeepochEnd(2009,10,29,0,0,0.0); while(epoch<epochEnd){ TriplehanoiTide; hanoiTide=solid.getSolidTide(epoch,posHANOI); cout<<epoch.DOYsecond()<<"" <<hanoiTide[0]<<"" <<hanoiTide[1]<<"" <<hanoiTide[2]<<endl; epoch+=300.0; }
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GPSTk basics: Solid tides

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GNSS Data Structures

GNSS Data Structures (GDS) were designed to help in GNSS data processing. They address GNSS data management problems. You can program without them, but they will make your work a lot easier.
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Almost all GNSS data may be identified (or indexed) by: Source: Receiver logging data. Satellite: GPS, GALILEO, GLONASS... Epoch: Time the data belongs to. Type: C1, P1, L2, etc, and other types. Key point: Save Meta-Information: Save 4 indexes to identify each piece of data
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Source: Implemented as class SourceID. Satellite: Implemented as class SatID. Several systems: GPS, Galileo, Glonass... Epoch: Implemented as class DayTime. Type: Implemented as class TypeID. Includes basic observations: C1, P1, etc. Other types: Relativity, troposphere, etc. You can create new types as needed!!!.
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GDS example
GDS provide several methods to ease handling. For instance: Keep only C1 observable in GDS:
gpsData.keepOnlyTypeID(TypeID::C1)
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GDS example
GDS provide several methods to ease handling. For instance: Keep only C1 observable in GDS:
gpsData.keepOnlyTypeID(TypeID::C1)
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GDS
Method
Type to keep
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Implementation
GDS provide several methods to ease handling. For instance: Remove a given satellite from GDS:
gpsData.removeSatID(sat21)
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Implementation
gpsData.removeSatID(sat21)
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GDS
Method
Satellite to remove
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Implementation
gpsData.removeSatID(sat21) Note: sat21 = SatID( 21, SatID::systemGPS )

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Implementation
GDS provide several methods to ease handling. For instance: Access GDS in a matrix-like fashion:
gpsData.body(TypeID::LI)(sat14)
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Implementation
GDS provide several methods to ease handling. For instance: Access GDS in a matrix-like fashion:
gpsData.body(TypeID::LI)(sat14)
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GDS Branches
Type
Satellite
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Processing paradigm
Operator >> is overloaded: We redefine it in C++ to make data flow from one processing step to the next
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Processing paradigm
Example: Declare object rinexFile to take data out of Rinex observation file:
RinexObsStream rinexFile("ebre0300.02o");
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Processing paradigm
Example: Declare object rinexFile to take data out of Rinex observation file:
RinexObsStream rinexFile("ebre0300.02o");
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Class to handle Object name Rinex Obs files
Rinex file name
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Processing paradigm
Example: Declare object gpsData. This is a GDS:
gnssRinex gpsData;
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Processing paradigm
Example: Declare object gpsData. This is a GDS:
gnssRinex gpsData;
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GDS Class Object name
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Processing paradigm
Example: Combine everything and take one epoch of data out of Rinex file into GDS:
RinexObsStream rinexFile("ebre0300.02o"); gnssRinex gpsData; rinexFile >> gpsData;
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Processing paradigm
Processing line
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Processing paradigm
Processing line
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Flow operator
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Processing paradigm
Main Idea: GNSS data processing becomes like an assembly line. The GDS flows from one workstation to the next, like a car in factory. And, like the car, the GDS changes along the processing line. For the developer, the GDS is like a white box holding all the information needed, and properly indexed.
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Processing code-based GPS data with the GPSTk and GDS A simple example:
C1 code observable + least-mean squares solver Plain standard GPS processing
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C1 + LMS
Get data out of Rinex file, one epoch at a time Get data into GDS (gpsData) Do it until Rinex file ends.
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C1 + LMS
Get data out of Rinex file, one epoch at a time Get data into GDS (gpsData) Do it until Rinex file ends.
while ( rinexFile >> gpsData ) { }
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C1 + LMS
Get data into modeling object gpsModel GpsModel was previously initialized: Ephemeris, tropospheric model, Klobuchar ionospheric model, etc. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { }
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C1 + LMS
Get data into modeling object gpsModel GpsModel was previously initialized: Ephemeris, tropospheric model, Klobuchar ionospheric model, etc. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { gpsData >> gpsModel }
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C1 + LMS
Resulting GDS with original data and modeled data gets into solver object lmsSolver lmsSolver is from SolverLMS class. lmsSolver was previously initialized. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { gpsData >> gpsModel }
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C1 + LMS
Resulting GDS with original data and modeled data gets into solver object lmsSolver lmsSolver is from SolverLMS class. lmsSolver was previously initialized. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> lmsSolver; }
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C1 + LMS
Resulting GDS with original data and modeled data gets into solver object lmsSolver lmsSolver is from SolverLMS class. lmsSolver was previously initialized. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> lmsSolver; }
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Processing line
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C1 + LMS
All GNSS data processing is done!!! Print results to the screen. C++ cout object is used to print to screen. Solution is inside lmsSolver: Ask for type. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> lmsSolver;
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}
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C1 + LMS
All GNSS data processing is done!!! Print results to the screen. C++ cout object is used to print to screen. Solution is inside lmsSolver: Ask for type. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> lmsSolver; cout << lmsSolver.getSolution(TypeID::dx) << '' ''; cout << lmsSolver.getSolution(TypeID::dy) << '' ''; cout << lmsSolver.getSolution(TypeID::dz) << endl;
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C1 code observable + least-mean squares solver + East-North-Up (ENU) system
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C1 + LMS + ENU
Add a change-base object to processing line: XYZ2NEU class change from ECEF to ENU. Create object baseChange from XYZ2NEU class.
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while ( rinexFile >> gpsData ) { gpsData >> gpsModel }
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C1 + LMS + ENU
Add a change-base object to processing line: XYZ2NEU class change from ECEF to NEU. Create object baseChange from XYZ2NEU class.
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while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> baseChange }
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C1 + LMS + ENU
Resulting GDS gets into object enuSolver enuSolver belongs to SolverLMS class. enuSolver was previously initialized to solve using dLat, dLon,dUp and cdt. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> baseChange }
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C1 + LMS + ENU
Resulting GDS gets into object enuSolver enuSolver belongs to SolverLMS class. enuSolver was previously initialized to solve using dLat, dLon,dUp and cdt. Initialization phase is not shown here. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> baseChange >> enuSolver; }
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C1 + LMS + ENU
All GNSS data processing is done!!! Print results to the screen. Solution is inside enuSolver: Ask for type. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> baseChange >> enuSolver;
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}
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C1 + LMS + ENU
All GNSS data processing is done!!! Print results to the screen. Solution is inside enuSolver: Ask for type. while ( rinexFile >> gpsData ) { gpsData >> gpsModel >> baseChange >> enuSolver; cout << enuSolver.getSolution(TypeID::dLat) << '' ''; cout << enuSolver.getSolution(TypeID::dLon) << '' ''; cout << enuSolver.getSolution(TypeID::dH) << endl; }
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PC (ionosphere free) code + smoothing with LC + weighted least-mean squares solver + East-North-Up (ENU) system
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Smoothed-PC + WMS + ENU

First, get combinations we will need: PC and LC (ionosphere-free). LI (ionospheric combination). MW (Melbourne-Wbbena) Look for corresponding classes in GPSTk API while ( rinexFile >> gpsData ) { gpsData >> }
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First, get combinations we will need: PC and LC (ionosphere-free). LI (ionospheric combination). MW (Melbourne-Wbbena) Look for corresponding classes in GPSTk API while ( rinexFile >> gpsData ) { gpsData >> getPC >> getLC >> getLI >> getMW }
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Then, detect and mark cycle-slips: Two different and complementary methods are used. Everything is in a single processing line. while ( rinexFile >> gpsData ) { gpsData >> getPC >> getLC >> getLI >> getMW
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}
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Then, detect and mark cycle-slips: Two different and complementary methods are used. Everything is in a single processing line. while ( rinexFile >> gpsData ) { gpsData >> getPC >> getLC >> getLI >> getMW
>> markCSLI >> markCSMW
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}
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Smooth code with phase
while ( rinexFile >> gpsData ) { gpsData >> getPC >> getLC >> getLI >> getMW
>> markCSLI >> markCSMW
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}
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Smooth code with phase
>> markCSLI >> markCSMW >> smoothPC
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}
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Smooth code with phase Apply model
>> markCSLI >> markCSMW >> smoothPC >> gpsModel
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}
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Smooth code with phase Apply model Compute weights
>> markCSLI >> markCSMW >> smoothPC >> gpsModel >> getWeights
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}
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Smooth code with phase Apply model Compute weights Change base and solve with a WMS solver while ( rinexFile >> gpsData ) { gpsData >> getPC >> getLC >> getLI >> getMW
>> markCSLI >> markCSMW >> smoothPC >> gpsModel >> getWeights >> baseChange >> wmsSolver;
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}
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All GNSS data processing is done!!! Print results to the screen. Solution is inside wmsSolver: Ask for type. Everything is in a single processing line. while ( rinexFile >> gpsData ) { gpsData >> getPC >> getLC >> getLI >> getMW
>> markCSLI >> markCSMW >> smoothPC >> gpsModel >> getWeights >> baseChange >> wmsSolver;
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}
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Differential GPS + C1 code observable + weighted least-mean squares + East-North-Up (ENU) system
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C1 + DGPS + WMS + ENU

First, process reference station data: synchro is a Synchronize class object. It is in charge of synchronizing reference and rover data streams. Initialization is not shown here. Consult API. while ( rinexFile >> gpsData ) { gpsDataRef >> synchro >> refModel; }
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Then, indicate the reference data: delta is a DeltaOp class object. It computes single diffences using common satellites. You must tell it which is the reference data. while ( rinexFile >> gpsData ) { gpsDataRef >> synchro >> refModel; delta.setRefData( gpsDataRef.body ); }
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Finally, process rover receiver data: You must insert delta object into processing line to compute single differences. while ( rinexFile >> gpsData ) { gpsDataRef >> synchro >> refModel; delta.setRefData( gpsDataRef.body ); gpsData >> gpsModel >> getWeights >> delta >> baseChange >> wmsSolver; }
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All GNSS data processing is done!!! Print results to the screen. Solution is inside wmsSolver: Ask for type. while ( rinexFile >> gpsData ) { gpsDataRef >> synchro >> refModel; delta.setRefData( gpsDataRef.body ); gpsData >> gpsModel >> getWeights >> delta >> baseChange >> wmsSolver; }
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Code-based results (as expected)

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Processing phase-based GPS data with the GPSTk and GDS Example of Precise Point Positioning (PPP)
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PPP (static, forward mode)

correctObservables.setExtraBiases(tides);
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Set correcting object with tide information. It also includes RX antenna phase center and eccentricity
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel
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Compute basic components of model
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites
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Remove satellites in eclipse
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay
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Compute gravitational delay
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter
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Compute the effect of satellite phase centers
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter >> correctObservables
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Correct observables from tides, RX phase center, etc
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter >> correctObservables >> windUp
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Compute wind-up effect
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo
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Compute tropospheric effect (Niell model)
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo >> computeLinearCombinations
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Compute common linear combinations: PC, LC, LI, ...
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo >> computeLinearCombinations >> markCSLI >> markCSMW
Marck cycle slips: Two complementary algorithms
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay Compute prefit residuals >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo >> computeLinearCombinations >> markCSLI >> markCSMW >> computePrefitResiduals
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay Decimate data if epoch is not a multiple of 900 seconds >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo >> computeLinearCombinations >> markCSLI >> markCSMW >> computePrefitResiduals >> decimateData
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay Change from ECEF to ENU reference frame >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo >> computeLinearCombinations >> markCSLI >> markCSMW >> computePrefitResiduals >> decimateData >> baseChange
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay Solve equations with a properly adjusted Kalman filter >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo >> computeLinearCombinations >> markCSLI >> markCSMW >> computePrefitResiduals >> decimateData >> baseChange >> pppSolver;
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correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites >> gravitationalDelay >> computeSatellitePhaseCenter >> correctObservables >> windUp >> computeTropo All this processing is repeated for each epoch >> computeLinearCombinations >> markCSLI >> markCSMW >> computePrefitResiduals >> decimateData >> baseChange >> pppSolver;
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PPP: MADR 2008/05/27, static, forward

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PPP: MADR 2008/05/27, static, forward

The achieved accuracy is better than 2 centimeters!!!
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PPP (kinematic, forward mode)

WhiteNoiseModel newCoordinatesModel(100.0); pppSolver.setCoordinatesModel(&newCoordinatesModel); correctObservables.setExtraBiases(tides); gpsData >> basicGPSModel >> removeEclipsedSatellites ... ... >> pppSolver;
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PPP:MADR 2008/05/27, kinematic, forward

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Comparison with other GPS software

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Comparison with other GPS software

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Conclusions
GPSTk is already a solid base to work upon, saving tedious work to the programmer and researcher. The GPSTk provides solid advantages both for companies and educational/research institutions. GPSTk portability, design and openness makes it very flexible for multiple uses. GDS provide a powerful, flexible and easy to use processing framework.
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Conclusions
GPSTk results are comparable with the best GPS data processing software available. There are several areas being improved: RINEX version 3 handling. Robust outlier detection classes. More sophisticated tide models. Other GNSS processing strategies (RTK).
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Thanks for your attention and time!
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gAGE Using GPSTK GNSS Learning Research SEAGAL Hanoi 2009

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gAGE Using GPSTK GNSS Learning Research SEAGAL Hanoi 2009

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research group of Astronomy and Geomatics Barcelona, Spain

Using the GPSTk for GNSS learning and research

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

GUMSTIX Miniature computer

NOKIA Internet Tablets

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

Some current features

Some current features

Some current features

Some current features

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

How to get the GPSTk

The GPSTk requires:

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

GPSTk basics: Vectors

Vector<double>vect1(4); Vector<double>vect2(4); for(inti=0;i<4;++i) { vect1(i)=3.0+i; vect2(i)=5.02.5*i; } Vector<double>vect3=vect1+vect2; cout<<vect1<<endl; cout<<vect2<<endl; cout<<vect3<<endl;

GPSTk basics: Matrices

Matrix<double>A(3,3,5.0); Matrix<double>I=ident<double>(3); Matrix<double>B=A2.0*I; Matrix<double>C(3,3); for(introw=0;row<3;++row) { for(intcol=0;col<3;++col) { C(row,col)=row+0.9*B(row,col); } } Matrix<double>CT=transpose(C); Matrix<double>D=inverseChol(CT*C);

GPSTk basics: Solvers

GPSTk basics: Time

DayTimeepoch1(2009,10,28,10,30,0.0); DayTimeepoch2=epoch1+3600.0; cout<<epoch1<<endl <<epoch2<<endl; cout<<epoch1.GPSfullweek()<<"" <<epoch1.DOY()<<"" <<epoch1.GPSsecond()<<endl;

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

GPSTk basics: Position

GPSTk basics: RINEX

RinexObsStreamrinexData("bahr1620.04o"); RinexObsHeaderrinexHeader; rinexData>>rinexHeader; cout<<rinexHeader.markerName<<":" <<rinexHeader.antType<<":" <<rinexHeader.firstObs<<endl; RinexObsDataobsData; while(rinexData>>obsData) { obsData.dump(cout); }

GPSTk basics: Ephemeris

GPSTk basics: Ephemeris

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

GPSTk basics: Solid tides

GPSTk basics: Solid tides

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

GNSS Data Structures

GNSS Data Structures

GNSS Data Structures

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

gpsData.removeSatID(sat21) Note: sat21 = SatID( 21, SatID::systemGPS )

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Salazar, D., Hernandez-Pajares, M., Juan, J.M., Sanz, J.

SEAGAL Project Workshop. Hanoi, 2009.

Matrix<double>A(3,3,5.0); Matrix<double>I=ident<double>(3); Matrix<double>B=A2.0I; Matrix<double>C(3,3); for(introw=0;row<3;++row) { for(intcol=0;col<3;++col) { C(row,col)=row+0.9B(row,col); } } Matrix<double>CT=transpose(C); Matrix<double>D=inverseChol(CT*C);