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libgnss++ — Modern C++ GNSS/RTK/PPP/CLAS Toolkit

Native non-GUI GNSS stack in modern C++17 with built-in SPP, RTK, PPP, CLAS/MADOCA, RTCM, UBX, and direct QZSS L6 handling.

The point of this repo is simple: ship a usable GNSS toolchain without depending on an external RTKLIB runtime.

If this repo is useful, star it.

UrbanNav Odaiba social card

Contribution and PR workflow: CONTRIBUTING.md Architecture notes: docs/architecture.md Documentation index: docs/index.md

Docs

Local docs site:

python3 -m pip install -r requirements-docs.txt
python3 -m mkdocs serve

Docker

Build the runtime image:

docker build -t libgnsspp:latest .

Pull the published image:

docker pull ghcr.io/rsasaki0109/gnssplusplus-library:develop

Run the CLI against a mounted workspace or dataset directory:

docker run --rm -it \
  -v "$PWD:/workspace" \
  libgnsspp:latest \
  solve --rover /workspace/data/rover_kinematic.obs \
  --base /workspace/data/base_kinematic.obs \
  --nav /workspace/data/navigation_kinematic.nav \
  --out /workspace/output/docker_rtk.pos

Serve the local web UI from inside the container:

docker run --rm -it \
  -p 8085:8085 \
  -v "$PWD:/workspace" \
  libgnsspp:latest \
  web --host 0.0.0.0 --port 8085 --root /workspace

The image installs the gnss dispatcher, Python helpers, and libgnsspp Python package, but it does not embed the repo sample datasets. Mount your source tree or your own dataset directory.

Run the web UI with Compose:

docker compose up gnss-web

Override the image if you want a local or tagged build:

LIBGNSSPP_IMAGE=ghcr.io/rsasaki0109/gnssplusplus-library:v0.1.0 docker compose up gnss-web

What You Get

  • Native solvers: SPP, RTK, PPP, CLAS-style PPP
  • Native protocols: RINEX, RTCM, UBX, direct QZSS L6
  • Raw/log tooling: NMEA, NovAtel, SBP, SBF, Trimble, SkyTraq, BINEX
  • Product tooling: fetch-products, ionex-info, dcb-info
  • Analysis tooling: visibility, visibility-plot, and moving-base-plot for az/el/SNR exports plus moving-base/visibility PNG quick-looks
  • Moving-base tooling: moving-base-prepare plus moving-base-signoff for real bag/replay/live validation
  • One CLI entrypoint: gnss spp, solve, ppp, visibility, stream, convert, live, rcv
  • Local web UI: gnss web for benchmark snapshots, live/moving-base/PPP-product sign-offs, 2D trajectories, visibility views, artifact bundles, receiver status, and artifact links
  • Built-in sign-off scripts and checked-in benchmark artifacts
  • CMake install/export, Python bindings, and ROS2 playback node

Feature overview

Quick Start

Build

cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build -j

First solutions

python3 apps/gnss.py spp \
  --obs data/rover_static.obs \
  --nav data/navigation_static.nav \
  --out output/spp_solution.pos

python3 apps/gnss.py solve \
  --rover data/short_baseline/TSK200JPN_R_20240010000_01D_30S_MO.rnx \
  --base data/short_baseline/TSKB00JPN_R_20240010000_01D_30S_MO.rnx \
  --nav data/short_baseline/BRDC00IGS_R_20240010000_01D_MN.rnx \
  --mode static \
  --out output/rtk_solution.pos

python3 apps/gnss.py ppp \
  --static \
  --obs data/rover_static.obs \
  --nav data/navigation_static.nav \
  --out output/ppp_solution.pos

python3 apps/gnss.py visibility \
  --obs data/rover_static.obs \
  --nav data/navigation_static.nav \
  --csv output/visibility.csv \
  --summary-json output/visibility_summary.json \
  --max-epochs 60

python3 apps/gnss.py replay \
  --rover-rinex data/rover_kinematic.obs \
  --base-rinex data/base_kinematic.obs \
  --nav-rinex data/navigation_kinematic.nav \
  --mode moving-base \
  --out output/moving_base_replay.pos \
  --max-epochs 20

Inspect receiver logs

python3 apps/gnss.py ubx-info \
  --input logs/session.ubx \
  --decode-observations

python3 apps/gnss.py sbf-info \
  --input logs/session.sbf \
  --decode-pvt \
  --decode-lband \
  --decode-p2pp

Useful commands

Command Purpose
gnss spp Batch SPP from rover/nav RINEX
gnss solve Batch RTK from rover/base/nav RINEX
gnss ppp Batch PPP from rover RINEX plus nav or precise products
gnss visibility Export azimuth/elevation/SNR visibility rows and summary JSON from rover/nav RINEX
gnss visibility-plot Render a visibility CSV into a polar/elevation PNG quick-look
gnss moving-base-plot Render a moving-base solution/reference pair into a baseline/heading PNG quick-look
gnss fetch-products Fetch and cache SP3/CLK/IONEX/DCB files from local or remote sources
gnss moving-base-prepare Extract rover/base UBX plus reference CSV from a ROS2 moving-base bag
gnss scorpion-moving-base-signoff Prepare and validate the public SCORPION moving-base ROS2 bag through replay
gnss stream Inspect and relay RTCM over file, NTRIP, TCP, or serial
gnss convert Convert RTCM or UBX into simple RINEX outputs
gnss ubx-info Inspect NAV-PVT, RAWX, SFRBX from file or serial
gnss sbf-info Inspect Septentrio SBF PVTGeodetic, LBandTrackerStatus, P2PPStatus from file or serial
gnss novatel-info Inspect NovAtel ASCII/Binary BESTPOS and BESTVEL logs
gnss nmea-info Inspect GGA and RMC NMEA logs from file or serial
gnss ionex-info Inspect IONEX header, map count, grid metadata, and auxiliary DCB blocks
gnss dcb-info Inspect Bias-SINEX or auxiliary DCB product contents
gnss qzss-l6-info Inspect direct QZSS L6 frames and export Compact SSR payloads
gnss social-card Regenerate the Odaiba share image
gnss short-baseline-signoff Static RTK sign-off
gnss rtk-kinematic-signoff Kinematic RTK sign-off
gnss ppp-static-signoff Static PPP sign-off
gnss ppp-kinematic-signoff Kinematic PPP sign-off
gnss ppp-products-signoff Static, kinematic, or PPC PPP sign-off with fetched SP3/CLK/IONEX/DCB products, optional MALIB delta gates, and comparison CSV/PNG artifacts
gnss live-signoff Realtime/error-handling sign-off for recorded RTCM/UBX live inputs
gnss ppc-demo External PPC-Dataset RTK/PPP verification against reference.csv
gnss ppc-rtk-signoff Fixed RTK sign-off profiles for PPC Tokyo/Nagoya, with optional RTKLIB side-by-side gates
gnss moving-base-signoff Real moving-base replay/live sign-off against per-epoch base/rover reference coordinates
gnss odaiba-benchmark End-to-end Odaiba benchmark pipeline
gnss web Local browser UI for summary JSON, live/moving-base/PPP-product sign-offs, .pos trajectories, moving-base/visibility plots and histories, receiver status, and artifact/provenance links

See all commands:

python3 apps/gnss.py --help

Local web UI

python3 apps/gnss.py web \
  --port 8085 \
  --rcv-status output/receiver.status.json

Then open http://127.0.0.1:8085 to inspect Odaiba metrics, live/moving-base/PPP-product sign-offs, 2D trajectories, moving-base and visibility plots, moving-base history, PPC summaries, receiver status, and linked artifact bundles in a browser. The PPP products table links directly to fetched products, MALIB .pos, comparison CSV/PNG artifacts, and dataset provenance.

Long-running dashboard commands can also read TOML config files. See configs/web.example.toml, configs/live_signoff.example.toml, configs/moving_base_signoff.example.toml, configs/ppc_rtk_signoff.example.toml, and configs/ppp_products_ppc.example.toml, then pass --config-toml <file>.

Container form:

docker run --rm -it -p 8085:8085 -v "$PWD:/workspace" \
  libgnsspp:latest web --host 0.0.0.0 --port 8085 --root /workspace

Real moving-base sign-off

gnss solve, gnss replay, and gnss live accept --mode moving-base. For real moving-base datasets, use gnss moving-base-signoff with a reference CSV carrying per-epoch base/rover ECEF coordinates. The repo does not ship a bundled moving-base dataset, so this command is intended for external real logs.

python3 apps/gnss.py moving-base-prepare \
  --input /datasets/moving_base/2023-06-14T174658Z.zip \
  --rover-ubx-out output/moving_base_rover.ubx \
  --base-ubx-out output/moving_base_base.ubx \
  --reference-csv output/moving_base_reference.csv \
  --summary-json output/moving_base_prepare.json

python3 apps/gnss.py fetch-products \
  --date 2023-06-14 \
  --preset brdc-nav \
  --summary-json output/moving_base_products.json

python3 apps/gnss.py moving-base-signoff \
  --solver replay \
  --rover-ubx output/moving_base_rover.ubx \
  --base-ubx output/moving_base_base.ubx \
  --nav-rinex ~/.cache/libgnsspp/products/nav/2023/165/BRDC00IGS_R_20231650000_01D_MN.rnx \
  --reference-csv output/moving_base_reference.csv \
  --summary-json output/moving_base_summary.json \
  --require-fix-rate-min 90 \
  --require-p95-baseline-error-max 1.0 \
  --require-realtime-factor-min 1.0 \
  --max-epochs 120

python3 apps/gnss.py scorpion-moving-base-signoff \
  --input-url https://zenodo.org/api/records/8083431/files/2023-06-14T174658Z.zip/content \
  --summary-json output/scorpion_moving_base_summary.json \
  --require-matched-epochs-min 100 \
  --require-fix-rate-min 80

python3 apps/gnss.py moving-base-signoff \
  --config-toml configs/moving_base_signoff.example.toml

python3 apps/gnss.py live-signoff \
  --config-toml configs/live_signoff.example.toml

Product-driven PPP

python3 apps/gnss.py fetch-products \
  --date 2024-01-02 \
  --preset igs-final \
  --preset ionex \
  --preset dcb \
  --summary-json output/products.json

python3 apps/gnss.py ppp-static-signoff \
  --fetch-products \
  --product-date 2024-01-02 \
  --product sp3=https://cddis.nasa.gov/archive/gnss/products/{gps_week}/COD0OPSFIN_{yyyy}{doy}0000_01D_05M_ORB.SP3.gz \
  --product clk=https://cddis.nasa.gov/archive/gnss/products/{gps_week}/COD0OPSFIN_{yyyy}{doy}0000_01D_30S_CLK.CLK.gz \
  --product ionex=https://cddis.nasa.gov/archive/gnss/products/ionex/{yyyy}/{doy}/COD0OPSFIN_{yyyy}{doy}0000_01D_01H_GIM.INX.gz \
  --product dcb=https://cddis.nasa.gov/archive/gnss/products/bias/{yyyy}/CAS0MGXRAP_{yyyy}{doy}0000_01D_01D_DCB.BSX.gz \
  --summary-json output/ppp_static_summary.json

python3 apps/gnss.py ppp-kinematic-signoff \
  --max-epochs 120 \
  --require-common-epoch-pairs-min 120 \
  --require-reference-fix-rate-min 95 \
  --require-converged \
  --require-convergence-time-max 300 \
  --require-mean-error-max 7 \
  --require-p95-error-max 7 \
  --require-max-error-max 7 \
  --require-mean-sats-min 18 \
  --require-ppp-solution-rate-min 100

python3 apps/gnss.py ppp-products-signoff \
  --config-toml configs/ppp_products_ppc.example.toml

python3 apps/gnss.py ppc-rtk-signoff \
  --config-toml configs/ppc_rtk_signoff.example.toml

Benchmark Snapshot

UrbanNav Tokyo Odaiba

Dataset: UrbanNav Tokyo Odaiba (2018-12-19, Trimble rover/base, ~170 m baseline). Comparison baseline: RTKLIB.

Current checked-in snapshot:

  • All matched epochs: libgnss++ 11637 vs RTKLIB 8241
  • Fix rate: libgnss++ 8.11% vs RTKLIB 7.22%
  • All-epoch p95 horizontal: libgnss++ 7.58 m vs RTKLIB 27.88 m
  • Common-epoch median horizontal: libgnss++ 0.733 m vs RTKLIB 0.704 m
  • Common-epoch p95 horizontal: libgnss++ 5.94 m vs RTKLIB 27.67 m
RTKLIB 2D libgnss++ 2D
RTKLIB 2D trajectory libgnss++ 2D trajectory

More artifacts:

Other checked sign-offs

  • Mixed-GNSS short-baseline RTK
  • Mixed-GNSS kinematic RTK
  • Static PPP
  • Kinematic PPP
  • CLAS-style PPP from compact sampled SSR and raw QZSS L6

External dataset demo

PPC-Dataset can be verified directly from an extracted dataset tree:

python3 apps/gnss.py ppc-demo \
  --dataset-root /datasets/PPC-Dataset \
  --city tokyo \
  --run run1 \
  --solver rtk \
  --require-realtime-factor-min 1.0 \
  --summary-json output/ppc_tokyo_run1_rtk_summary.json

python3 apps/gnss.py ppc-rtk-signoff \
  --dataset-root /datasets/PPC-Dataset \
  --city tokyo \
  --rtklib-bin /path/to/rnx2rtkp \
  --summary-json output/ppc_tokyo_run1_rtk_signoff.json

Dataset source: taroz/PPC-Dataset

Install And Package

cmake --install build --prefix /opt/libgnsspp

Installed layout includes:

  • bin/gnss
  • native binaries such as gnss_spp, gnss_solve, gnss_ppp, gnss_stream
  • Python command wrappers and sign-off scripts
  • scripts/ asset generators
  • lib/cmake/libgnsspp/libgnssppConfig.cmake
  • lib/pkgconfig/libgnsspp.pc
  • Python package libgnsspp

Examples:

# pkg-config
pkg-config --cflags --libs libgnsspp

# source the installed dispatcher
/opt/libgnsspp/bin/gnss social-card \
  --lib-pos output/rtk_solution.pos \
  --rtklib-pos output/driving_rtklib_rtk.pos \
  --reference-csv data/driving/Tokyo_Data/Odaiba/reference.csv \
  --output docs/driving_odaiba_social_card.png

Python And ROS2

Python bindings expose:

  • RINEX header and epoch inspection
  • .pos loading and solution statistics
  • coordinate conversion helpers
  • file-based SPP, PPP, and RTK solve helpers

ROS2 support includes a playback node that publishes .pos files as:

  • sensor_msgs/NavSatFix
  • geometry_msgs/PoseStamped
  • nav_msgs/Path
  • solution status and satellite-count telemetry

Tests And Dogfooding

Run the full non-GUI regression set:

ctest --test-dir build --output-on-failure

Important checks already covered in-tree:

  • solver/unit tests
  • live realtime/error-handling regression
  • benchmark/image generation tests
  • installed-prefix packaging smoke tests
  • installed gnss social-card dogfooding
  • installed feature-overview image generation
  • Python bindings smoke tests
  • ROS2 node smoke tests

Data

Bundled samples live under:

  • data/
  • data/short_baseline/
  • data/driving/Tokyo_Data/Odaiba/

Generated benchmark outputs live under:

  • output/
  • docs/

Scope

This repo is intentionally focused on a strong non-GUI GNSS stack.

It already covers:

  • native RTK, PPP, CLAS, RTCM, UBX, QZSS L6
  • installed CLI tooling
  • benchmarks, sign-off scripts, and README asset generation

It is still not marketed as a perfect RTKLIB drop-in replacement. The remaining gaps are about scope breadth, not the core non-GUI workflow shipped here.

License

MIT License. See LICENSE.

About

Modern C++ GNSS/RTK/PPP/CLAS toolkit.

rsasaki0109.github.io/gnssplusplus-library/

Topics

c-plus-plus localization rinex gnss ppp positioning rtk ros2 qzss rtcm

Resources

Readme

License

MIT license

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