gnsstoolbox 1.2.21

Python GNSS processing package

GnssToolbox - Python package for GNSS learning

Installation

This package requires Python 3

Required packages :

• gpsdatetime - https://pypi.org/project/gpsdatetime/ (J. Beilin - ENSG)
• re
• math
• numpy
• copy
• time
• os
• json
• from operator import attrgetter

Installation is accomplished from the command line.

• From pypi

user@desktop$pip3 install pygnsstoolbox

• From package source directory

user@desktop$~/gnsstoolbox$ python3 setup.py install

For usage see gnsstoolbox cheatsheet and beamer slides shipped with the package.

Import modules

""" Ephemerides management """
import gnsstoolbox.orbits as orbits

""" GNSS data (rinex "o" files) """ 
import gnsstoolbox.rinex_o as rx

""" Processing tools (rotations, coordinate conversions...) """
import gnsstoolbox.gnsstools as tools

""" Code processing """
import gnsstoolbox.gnss_process as proc

""" Constantes utiles """
import gnsstoolbox.gnss_const as const

""" Corrections (troposphere, antennas...) """
import gnsstoolbox.gnss_corr as corr

gnss_const

Constant	Description	Unit
c	celerity	299792458 m/s
f1	frequency L1 gps	1.57542 GHz
f2	frequency L2 gps	1.22760 GHz
f5	frequency L5 gps	1.17645 GHz

orbits

Structure

Orbit class contains all orbits informations :

Attribute	Definition
leap_seconds
ion_alpha_gps
ion_beta_gps
ion_gal
delta_utc
NAV_dataG	list of GPS navigation message
NAV_dataE	list of Galileo navigation message
NAV_dataR	list of Glonass navigation message
G	list of Sp3Pos objects with GPS precise orbits
E	list of Sp3Pos objects with Galileo precise orbits
R	list of Sp3Pos objects with Glonass precise orbits

GPS/Galileo nav element (nav_element)

Attribute	Definition	Unit
tgps	date/time of ephemeris	gpsdatetime
mjd	date/time of ephemeris	decimal day from 17 November 1858
gps_wk	GPS week	week number from 6 jannuary 1980
TOE	Time of ephemeris	second of week
TOC	TIme of clock	==mjd
const	Constellation	G or E
PRN	Pseudo-random noise	I2
e	Orbit excentricity	without unit
sqrt_a	Square-root of semi-major axis	m**0.5
M0	Mean anomaly at at reference time	radians
delta_n	Mean motion difference from 2 body problem	radian.s**-1
i0	Inclination à TOE	radians
IDOT	Rate of change of inclination	radians.s**-1
crc	Amplitude of the cosine harmonic correction term to the orbit radius	radians
crs	Amplitude of the sine harmonic correction term to the orbit radius	radians
cuc	Amplitude of cosine harmonic correction term to the argument of latitude	radians
cus	Amplitude of sine harmonic correction term to the argument of latitude	radians
cic	Amplitude of the cosine harmonic correction term to the angle of inclination	radians
cis	Amplitude of the sine harmonic correction term to the angle of inclination	radians
omega	Argument of perigee	radians
OMEGA0	Longitude of ascending node of orbit plane at weekly epoch	radians
OMEGA_DOT	Rate of Right Ascension	radians.s**-1
L2_P
sv_acc
sv_health	Space vehicle health
TGD	Time group delay
alpha0	Clock bias	s
alpha1	Clock drift coefficient	s.s**-1
alpha2	Clock drift rate coefficient	s.s**-2
IODC	Issue of data, clock
IODE	Issue of data, ephemeris

Glonass nav element (nav_element)

Attribute	Definition	Unit
tgps	date/time of ephemeris	gpsdatetime
mjd	date/time of ephemeris	modified julian date
gps_wk	GPS week	week number from 6 jannuary 1980
const	Constellation	R
PRN	Pseudo-random noise	#
SV_clock_offset		s
SV_relat_freq_offset		s.s**-1
Message_frame_time		s.s**-2
X		m
X_dot		m.s**-1
MS_X_acc		m.s**-2
Y		m
Y_dot		m.s**-1
MS_Y_acc		m.s**-2
Z		m
Z_dot		m.s**-1
MS_Z_acc		m.s**-2
freq_num		#
sv_health
age_op_inf		days

Sp3 precise orbit (Sp3Pos class)

Attribute	Definition	Unit
mjd	date/time of ephemeris	modified julian date
X	X coordinate ECEF	m
Y	Y coordinate ECEF	m
Z	Z coordinate ECEF	m
dte	Satellite clock bias	µs

Data loading

• Broadcast ephemerides loading (*.yyn ou *.yyg)

Orb = orbits.orbit()
Orb.loadRinexN('brdm1500.13p')  

• Precise ephemerides loading (*.sp3)

Orb = orbits.orbit()
Orb.loadSp3(['igs17424.sp3','igl17424.sp3','grm17424.sp3'])

or

Orb.loadSp3('igs17424.sp3') 

Data access

• Get broadcast ephemerides for a satellite at an instant mjd

Eph = Orb.getEphemeris(constellation,PRN,mjd)
try:
	print("TOC : ",Eph.tgps.st_iso_epoch())
except:
	print("Unable to find satellite")	

• Get all precise ephemerides for a satellite

(orb,nl) = Orb.getSp3('G',5) 

# Satellite GPS, PRN 5
# 'G' : GPS, 'E' : Galileo, 'R' : Glonass

X = orb[:,1] # X coordinates at all sp3 epochs
Y = orb[:,2]
Z = orb[:,3]

Satellite coordinates/clock processing

• Process of ECEF coordinates and clock error (dte) for a satellite given by its constellation ('G','E','R'), its PRN, an instant mjd and et possibly a degree for Lagrange processing (precise orbits).

X, Y, Z, dte = Orb.calcSatCoord(const,PRN,mjd,degree)

A debug class object is implemented during coordinate processing. It contains all intermediaries results.

In order to get its attributes :

print(Orb.debug.__dict__)

• Process satellite clock error for a satellite given by its constellation ('G','E','R'), its PRN and an instant mjd.

dte = Orb.calcDte(const, PRN, mjd)

• Process satellite relativistic error for a satellite given by its constellation ('G','E','R'), its PRN and an instant mjd.

dt_relat = Orb.calcDtrelatNav(const, PRN, mjd)

Rinex_o

Structure

class rinex_o

Attribute	Definition
type	rinex type, always "o"
headers	list of header objects

class header

Attribute	Definition
VERSION
TYPE
PGM
RUN_BY
OBSERVER
AGENCY
MARKER_NAME	marker name
MARKER_NUMBER	marker number
REC_N	receiver number
REC_TYPE	receiver type
REC_VERS	receiver version
ANT_N	antenna number
ANT_TYPE	antenna type
X	X approximate coordinate (m)
Y	Y approximate coordinate (m)
Z	Z approximate coordinate (m)
dH	up offset
dE	east offset
dN	north offset
WAVELENGTH_FACTOR
TYPE_OF_OBS	dictionary
TIME_OF_FIRST_OBS	time of first observation (gpsdatetime)
TIME_OF_LAST_OBS	time of last observation (gpsdatetime)
EPOCH_FLAG
epochs	list of epoch objects

class epoch

Attribute	Definition
tgps	epoch date/time (gpsdatetime)
satellites	list of sat objects

class sat

Attribute	Definition
type
const	constellation, in [G;R;E]
PRN	Pseudo Random Noise
obs	dictionnary of observables

Data loading

Loading observation Rinex file (*.yyo)

Rnx = rx.rinex_o()
Rnx.loadRinexO('smne1500.13o') 

Data access

• Get epoch object for a given MJD :

t=gpst.gpsdatetime()
t.rinex_t('13  5 30  1  0 30.0000000')
Ep = Rnx.getEpochByMjd(t.mjd)

• Get header object for a given MJD :

Hd = Rnx.getHeaderByMjd(t.mjd)

• Get attribute from any header

X0 = Hd.X

• Print all header or epoch informations

print(Hd)
print(Ep)

• Get any observable from an epoch :

C1 = Ep.getObs("C1","G", 31)

or

S = Ep.getSat("G", 31)
C1 = S.getObs("C1")

or (only for C/A code)

C1 = Ep.getSat("G", 31).C1

• Get all common data for 2 datasets at a given MJD

Ep_base,Ep_rover = rinex_base.getCommonEpochs(rinex_rover, 56442)

gnsstools

• toolGeoCartGRS80 : geographic to cartesian coordinates conversion. All angles should be given in radians.

X,Y,Z = tools.toolGeoCartGRS80(lon,lat,h)

• toolCartGeoGRS80 : cartesian to geographic coordinates conversion. All angles are given in radians.

lon,lat,h = tools.toolCartGeoGRS80(X,Y,Z)

• toolCartLocGRS80 : cartesian to topocentric coordinates conversion.

x, y, z = tools.toolCartLocGRS80(X0,Y0,Z0,X,Y,Z)

• toolAzEle : azimut and elevation (radians) for one or several satellites Xs,Ys,Zs (scalar or vector) seen from a point with X,Y,Z coordinates.

Az, Ele = tools.toolAzEle(X,Y,Z,Xs,Ys,Zs)

• toolAzEleH : azimut, elevation (radians) and ellipsoidal height for one or several satellites Xs,Ys,Zs (scalar or vector) seen from a point with X,Y,Z coordinates.

Az, Ele, h = tools.toolAzEleH(X,Y,Z,Xs,Ys,Zs)

• toolRotX, toolRotY, toolRotZ : alpha radians rotation around X, Y ou Z axis.

X,Y,Z =  tools.toolRotX(X,Y,Z,alpha)

• matCart2Local : matrix from cartesian to local coordinates. Longitudes and latitudes given in radians.

R =  tools.matCart2Local(lon, lat)

gnss_process

• TrilatGps : trilateration with 4 parameters (X,Y,Z,cdtr)

X,Y,Z,cdtr,sigma0_2,V,Qxx = trilatGps(PosSat,Dobs,X0)

• TrilatGnss : trilateration with 4, 5 or 6 parameters (X,Y,Z,cdtr,[cGGTO,cGPGL])

X,Y,Z,cdtr,cGGTO,cGPGL,sigma0_2,V,Qxx =  trilatGnss(PosSat,Dobs,X0,sat_index)

• TrilatGnssPonderationElev : trilateration with 4, 5 or 6 parameters (X,Y,Z,cdtr,[cGGTO,cGPGL]) avec with weighting given from elevation of each satellite.

X,Y,Z,cdtr,cGGTO,cGPGL,sigma0_2,V,Qxx =  trilatGnssPonderationElev(PosSat,Dobs,X0,sat_index,ElevSat)

Licence

Copyright (C) 2014-2025, Jacques Beilin - ENSG-Geomatics

Distributed under terms of the CECILL-C licence.