qzsl6tool 0.1.7a1

Command-line tools for reading and converting GNSS messages, including QZSS L6, RTCM, Galileo HAS, and BeiDou PPP-B2b data.

QZS L6 Tool: quasi-zenith satellite L6-band tool, ver.0.1.7a1

日本語

Summary

• This set of tools displays GNSS (Global Navigation Satellite System) messages and extracts specific formatted data from the raw data of GNSS receivers, for example, RTCM format and Michibiki L6 format.
• The suite consists of Python code that receives the messages via standard input, and the conversion results are sequentially outputted to the standard output. The use of standard error output is also possible as needed.
• It is designed to be used in conjunction with tools such as nc of netcat, and str2str of RTKLIB.
• Initially, it aimed to display the content of augmentation messages broadcasted by the quasi-zenith satellite Michibiki (QZS) in the L6 frequency band, including CLAS and MADO. However, it is now also capable of displaying Galileo HAS messages.
• Semantic versioning has been applied since 2024-08-11.
• Release note

Operating Environment

• It is intended for use on the command line of Linux or macOS.
• Python 3.10 or later is required.
• With a Docker environment such as Docker Desktop, this tool can also be used on Windows, macOS, Linux, and Raspberry Pi OS inside a Linux container. The Docker image includes the Python runtime, nc, and str2str from RTKLIB 2.4.3 b34.

Installing from PyPI

python3 -m pip install qzsl6tool
qzsl6read.py < sample/2022001A.l6
str2str -in ntrip://ntrip.rnav.info.hiroshima-cu.ac.jp:80/OEM7 2>/dev/null | rtcmread.py

The PyPI package installs the required Python dependencies such as bitstring, galois, and numpy. External command-line tools such as nc and RTKLIB str2str should be installed separately when needed.

Building a Docker image

docker build -t qzsl6tool .

Executing a docker image

docker run -it --rm qzsl6tool "cd /root/qzsl6tool/test; ./do_test.sh"
docker run -it --rm qzsl6tool "qzsl6read.py < /root/qzsl6tool/sample/2022001A.l6"
docker run -it --rm qzsl6tool "str2str -in ntrip://ntrip.rnav.info.hiroshima-cu.ac.jp:80/OEM7 2>/dev/null | rtcmread.py"
docker run -it --rm -v .:/mnt qzsl6tool "qzsl6read.py < my_l6_data.l6"

When handling GNSS binary data on Windows, do not pass the binary stream through cmd.exe or PowerShell pipes. Keep input acquisition and the processing pipeline inside the container like above.

Those who use Windows Git CLI, please execute git config --global core.autocrlf input before cloning this repository. This is to avoid CR inclusion in line ends of a Python code.

Satellite Signal Display

display	code
RTCM	rtcmread.py
QZSS L6	qzsl6read.py
QZSS L1S	qzsl1sread.py
Galileo I/NAV	galinavread.py
Galileo HAS	gale6read.py
BeiDou PPP-B2b	bdsb2read.py

GNSS Receiver Data Conversion

GNSS receiver	code	QZS L6	QZS L1S	Galileo HAS	Galileo I/NAV	BeiDou B2b
Allystar HD9310 option C	alstread.py	-l option
Pocket SDR	psdrread.py	-l option	-l1s option	-e option	-i option	-b option
NovAtel OEM729	novread.py			-e option
Septentrio mosaic-X5	septread.py			-e option		-b option
Septentrio mosaic-CLAS	septread.py	-l option
u-blox ZED-F9P	ubxread.py		-l1s option		-i option

Time & Coordinate Conversion

conversion	code
GPS time, GST, BST → UTC time	gps2utc.py
UTC time → GPS time, GST, BST	utc2gps.py
LLH → ECEF	llh2ecef.py
ECEF → LLH	ecef2llh.py

Directory Structure

├── docs/        (documentation directory)
├── license.txt  (license description)
├── python/      (code directory)
├── readme-en.md (English document)
├── readme.md    (this file, Japanese document)
├── sample/      (sample data directory)
└── test/        (directory to test the tools)

License

This project is licensed under the BSD 2-clause license.

Users are permitted to use this program for commercial and non-commercial purposes, with or without modification, but this copyright notice is required. The function rtk_crc24q() in librtcm.py utilizes the achievements of RTKLIB ver.2.4.3b34.

Copyright (c) 2022-2026 by Satoshi Takahashi
Copyright (c) 2007-2020 by Tomoji TAKASU