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A comprehensive introduction to GPS principles, available for free on Coursera.

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Best GPS Courses Online with Certificates [2024] | Coursera

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Explore top courses and programs in GPS. Enhance your skills with expert-led lessons from industry leaders. Start your learning journey today!

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Learn about GNSS software through hands-on tutorials. This resource covers various software options.

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Tutorials on GNSS-SDR: step-by-step procedures and descriptions of use cases.

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Stay updated with the latest research in GPS solutions by subscribing to this journal.

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GPS Solutions is a quarterly scientific journal covering system design issues and a full range of current and emerging applications of global navigation ...

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A premier source for news on GPS/GNSS technology and its applications.

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GPS World - The Business and Technology of Global Navigation and Positioning

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GPS World - The Business and Technology of Global Navigation and Positioning

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The Business and Technology of Global Navigation and Positioning

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An open-source program package for GNSS positioning. Ideal for those interested in RTK.

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RTKLIB: An Open Source Program Package for GNSS Positioning

These are just old archives for recording. To download of the newest version, please visit the following GitHub links.

Version Date Binary APs for Windows Source Programs and Data

2.4.2 p13

2018/01/29
GitHub GitHub

2.4.3 b34

2020/12/29
GitHub GitHub

The 2.4.2 pXX is the stable version with the newest patches. The 2.4.3 bXX is the development or beta version with experimental implementations.
Please refer thesupport information for bug and known problem list.
Tutorial and Demonstration
GNSS-SDRLIB: Open Source GNSS Software Defined Radio Library (SDR working with RTKLIB)

Google play: RTKGPS+ (Android frontend of RTKLIB)
Overview

RTKLIB is an open source program package for standard and precise positioning with GNSS (global navigation satellite system). RTKLIB consists of a portable program library and several APs (application programs) utilizing the library. The features of RTKLIB are:

(1) It supports standard and precise positioning algorithms with:

GPS, GLONASS, Galileo, QZSS, BeiDou and SBAS

(2) It supports various positioning modes with GNSS for both real-time and post-processing:

Single, DGPS/DGNSS, Kinematic, Static, Moving-Baseline, Fixed, PPP-Kinematic, PPP-Staticand PPP-Fixed

(3) It supports many standard formats and protocols for GNSS:

RINEX 2.10, 2.11, 2.12 OBS/NAV/GNAV/HNAV/LNAV/QNAV, RINEX 3.00, 3.01, 3.02 OBS/NAV, RINEX 3.02 CLK, RTCM ver.2.3, RTCM ver.3.1 (with amendment 1-5), ver.3.2, BINEX, NTRIP 1.0, RTCA/DO-229C, NMEA 0183, SP3-c, ANTEX 1.4, IONEX 1.0, NGS PCV and EMS 2.0 (refer the Manual for details)

(4) It supports several GNSS receivers' proprietary messages:

NovAtel: OEM4/V/6, OEM3, OEMStar, Superstar II, Hemisphere: Eclipse, Crescent, u-blox: LEA-4T/5T/6T, SkyTraq: S1315F, JAVAD: GRIL/GREIS, Furuno: GW-10 II/III and NVS NV08C BINR (refer the Manual for details)

(6) It supports external communication via:
Serial, TCP/IP, NTRIP, local log file (record and playback) and FTP/HTTP (automatic download)
(7) It provides many library functions and APIs for GNSS data processing:

Satellite and navigation system functions, matrix and vector functions, time and string functions, coordinates transformation, input and output functions, debug trace functions, platform dependent functions, positioning models, atmosphere models, antenna models, earth tides models, geoid models, datum transformation, RINEX functions, ephemeris and clock functions, precise ephemeris and clock functions, receiver raw data functions, RTCM functions, solution functions, Google Earth KML converter, SBAS functions, options functions, stream data input and output functions, integer ambiguity resolution, standard positioning, precise positioning, post-processing positioning, stream server functions, RTK server functions, downloader functions

(8) It includes the following GUI and CUI APs:

Function GUI AP CUI AP Notes

(9) All of the executable binary APs for Windows are included in the package as well as whole source programs of the library and the APs.
System Requirement
The executable binary GUI and CUI APs included in the package require Microsoft Windows environment. On the other OS or environment, you have to compile and build CUI APs by yourself.

All of the library functions and APIs were written in ANSI C (C89). The library internally uses winsock and WIN32 thread for Windows with the compiler option -DWIN32 and the standard socket and pthread (POSIX thread) for Linux/UNIX without any option. By setting the compiler option -DLAPACK or -DMKL, the library uses LAPACK/BLAS or Intel MKL for fast matrix computation.

The CUI APs were written in ANSI C. The library and CUI APs can be built on many environments like gcc on Linux. The GUI APs were written in C++ and utilize Embarcadero/Borland VCL (visual component library) for GUI toolkits. All of the executable binary APs in the package were built by Embarcadero C++ builder XE2 Starter Edition on Windows 7. The executable GUI APs were tested on Windows 7 (64bit). The CUI APs were also built and tested onUbuntu 11.04 Linux and x86 CPU.

Notes: Previous versions of RTKLIB until ver. 2.4.1 were built by a free edition of Borland C++ (Turbo C++ 2006). Turbo C++, however, is no longer supported in ver. 2.4.2 because of a type incompatibility problem of GUI strings between ver.2.4.2 and the previous ones.
License
The RTKLIB software package is distributed under the following BSD 2-clause license and additional exclusive clauses. Users are permitted to develop, produce or sell their own non-commercial or commercial products utilizing, linking or including RTKLIB as long as they comply with the license.

-----------------------------------------------------------------------------------------------------------------------------------

Copyright (c) 2007-2013, T. Takasu, All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

The software package includes some companion executive binaries or shared libraries necessary to execute APs on Windows. These licenses succeed to the original ones of these software.

(deleted) (2014/01/29)

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Notes: Previous versions of RTKLIB until ver. 2.4.1 had been distributed under GPLv3 license.
History

Version

Date

Description

2.2.0

2009/01/31

Add stream.c, rtksvr.c,preceph.c in src , Add rtknavi, rtkpost_mkl, srctblbrows, strsvr in app.

Acknowledgement
The original code of src/rcv/nvs.c was provided by Michele Bavaro.

Copyright (C) 2007-2013, T.TAKASU, All rights reserved.

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RTKLIB: An Open Source Program Package for GNSS Positioning

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RTKLIB: An Open Source Program Package for GNSS Positioning These are just old archives for recording. To download of the newest version, please visit the following GitHub links. Version Date Binary APs for Windows Source Programs and Data 2.4.2 p13 2018/01/29 GitHub GitHub 2.4.3 b34 2020/12/29 GitHub GitHub The 2.4.2 pXX is the stable version with the newest patches.

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A collection of MATLAB scripts developed for GNSS data processing.

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Join a community of enthusiasts and professionals to discuss the latest in GPS/GNSS technology.

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A forum dedicated to professionals in the field of land surveying and GNSS technologies.

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You asked, we listened. We're now offering memberships to help sustain RPLS.com while also providing paid members with additional features. As a launch and Black Friday special, we're offering 50% off until November 30th plus a limited number of LIFETIME plans! Use code BFLAUNCH2023 at checkout.

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This article goes over common reasons for GNSS disruptions, as well as methods to correct them. (Bianca Kumar)

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GPS World - The Business and Technology of Global Navigation and Positioning

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GNSS has transformed the way both individuals and machines navigate across the globe, leading to a growing number of organizations utilizing positioning data in the development of products and applications. GNSS technology plays a crucial role in enabling autonomous vehicles, robots, logistics fleets, and emergency response systems to accurately determine the precise locations of places, people, and things on Earth's surface. As a result, routes are not only more accurate and efficient but also safer.

As a satellite-dependent navigation system, various atmospheric and technological factors can impact the accuracy and precision of GNSS signals. These signals often need to be corrected by receivers before they can be used for positioning, and various correction methods exist today to achieve this. Each method has its own advantages and disadvantages, catering to diverse accuracy requirements and application scenarios.

Five causes of GNSS signal inaccuracies

When choosing the best GNSS correction method for a specific project, it is important to comprehend signal errors and their underlying causes. GNSS errors result from a combination of elements, such as ephemeris inaccuracies, disparities in satellite clocks, conditions in the ionosphere and troposphere, and inconsistencies between various satellite systems. Each signal correction method addresses these elements differently, resulting in pros and cons that must be weighed before selecting and implementing a solution.
1. Inaccurate ephemeris data
To calculate their position on Earth, GNSS receivers need to know the exact position in space of the satellites they use. Satellite positioning and orbital parameters are represented in ephemeris data, but sometimes this data is incorrect. Ephemeris inaccuracies cause the receiver to not know the satellites' exact positions, thereby degrading the accuracy of their position calculation.
2. Differences in satellite clocks
Even the highly accurate atomic clocks on GNSS satellites can introduce errors in the timestamps receivers use to calculate positions. The exceptionally high speed at which GNSS satellites travel in space (approximately 7,000 mph) adds another layer of complexity to these calculations because even a nanosecond of difference can lead to substantial positioning errors.
3. Conditions in the ionosphere
The ionosphere, the outermost layer of Earth's atmosphere, consists of charged particles that can affect the speed of light and radio signals as they pass through it. Fluctuations in solar radiation and other ionospheric conditions can result in delays or distortions in GNSS signals, introducing measurement errors that require correction for precise positioning. Although the influence of the ionosphere can result in significant signal interpretation errors, correction methods can effectively model and account for them.
4. Conditions in the troposphere
Weather, which occurs in the troposphere, the innermost layer of Earth's atmosphere, also impacts GNSS signals as they travel from satellites in space to receivers. Temperature, humidity, and pressure can affect the speed of light and radio signals much like the charged particles of the ionosphere, leading to even more delays and distortion in GNSS calculations. However, because weather is highly localized, tropospheric errors must be modeled and corrected from a relatively close distance to achieve the level of accuracy needed for precise positioning.
5. Group delay (code bias)
Different countries and organizations around the world operate GNSS satellites. While they are generally aligned, minor discrepancies in time references and frequencies exist that can impact the accuracy of GNSS positioning. This is known as group delay or code bias and must also be corrected to ensure that signals are interpreted correctly.

Types of GNSS corrections

Understanding the origin of errors is critical when selecting the optimal GNSS signal correction method for a particular product or application. Each method has advantages and disadvantages ranging in importance depending on the application of GNSS positioning

Real-time kinematic positioning (RTK) correction is widely regarded as the best method for achieving precise GNSS signal correction. It requires setting up a base station with a GNSS receiver at a very well surveyed location near the target area (usually within 30-50 kilometers), which transmits corrections to the end user's GNSS receiver (called the rover). The proximity between the base station and the rover mitigates the impacts of signal errors. Any signal disparities that do exist can be analyzed to measure positional differences between the base and the rover, enabling the latter to calculate its position very precisely.

However, classical RTK solutions have a notable limitation: to achieve corrections over wide areas they require an extensive infrastructure of base stations, which can significantly escalate costs. Therefore, RTK is best for autonomous vehicles and consumer navigation and sub-optimal for positioning applications in remote areas.

Precise point positioning (PPP) utilizes a limited number of highly precise and accurate stations to correct GNSS signals. The PPP algorithm divides the responsibility for correction between these stations and GNSS receivers. As a first step, the PPP stations model various known sources of error within GNSS, such as ephemeris inaccuracies, clock discrepancies, and group delay. They then transmit this information to GNSS receivers to conduct further calculations based on local conditions and refine the error estimation. By combining the accumulated signal data with the known error sources provided by the PPP stations, GNSS receivers gauge both global and localized errors (including ionospheric and tropospheric effects), ultimately calculating the necessary signal corrections for accurate positioning.

Despite its high accuracy, the limited number of existing PPP stations results in a longer time for signal correction. Using the PPP method, signal correction may take approximately 20-25 minutes. Particularly challenging conditions can further prolong the time needed to correct the signal, as the receiver independently calculates both ionospheric and tropospheric effects.

PPP is best for heavy equipment operating in open water or remote locations and sub-optimal for consumer GNSS receivers and autonomous vehicles.

The forefront of GNSS signal correction technology today is state space representation (SSR). In addition to providing ephemeris, clock, and code bias discrepancy data like PPP, SSR offers valuable insights into other signal accuracy factors, even the highly localized interferences caused by the ionosphere and troposphere. Nonetheless, many GNSS receivers lack the capability to effectively process and convert this extensive data into meaningful positions. To address this challenge, SSR data can be transformed into a virtual base station (VBS), effectively simulating an RTK base station for legacy receivers. This bleeding edge method enables the utilization of SSR data even with conventional GNSS receivers, expanding access to high-precision positioning capabilities to more users. SSR is best for the automotive and robotics industries and sub-optimal for teams using generic receivers.

Choosing a GNSS correction method

Like all technology, GNSS correction methods are constantly evolving, making high-precision positioning more accessible and reliable across a wide range of applications. However, to serve the increasing demands of organizations using GNSS for applications requiring precise positioning, correction methods must be scalable, efficient and accurate.

Different methods for correcting GNSS signals offer varying levels of accuracy and suitability for specific applications. As they select which is best suited to their use case, users must prioritize their needs, as well as the benefits and trade-offs of each correction method. RTK produces fast, hyper-accurate results in developed areas but can be expensive to deploy in areas without the proper infrastructure. PPP methodology enables users in remote locations to access precise positioning information but can take a substantial amount of time. SSR is powering some of the most innovative applications in technology today, but is not as accessible as other methods due to the limitations of legacy receivers. Once they have assessed cost, speed and accessibility, developers can select the GNSS correction method that is best for their product or application. As this continued innovation in the GNSS space increasingly helps organizations overcome challenges in signal correction, it will be interesting to see what new cutting-edge technology develops to shape the future of our world.

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Inside the Box: Understanding GNSS correction methods - GPS World

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Aaron Nathan, CEO and Founder of Point One Navigation, gives a summary of the strengths and weaknesses of RTK, PPP, & SSR signal correction methods, and when to use each.

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Help manuals for Trimble GNSS receivers (Bianca Kumar)

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Dedicated to the world's tomorrow, Trimble is a technology company delivering solutions that enable our customers to work in new ways to measure, build, grow and move goods for a better quality of life. Core technologies in positioning, modeling, connectivity and data analytics connect the digital and physical worlds to improve productivity, quality, safety, transparency and sustainability.

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Recorded Webinars | NGS Webinar Series | National Geodetic Survey

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Geodesy is the study of the shape of the planet, with GNSS being the primary analysis tool. The National Geodetic Survey publishes monthly seminars relating to some aspect of geodesy, from active research topics to presentations on GNSS processing tools. (Chris Toth)

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2023 Recorded Webinars | NGS Webinar Series | National Geodetic Survey

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NGS Field Operations support a variety of internal and external projects and partners by completing geodetic observations across the nation. This webinar will provide an overview of current capabilities and ongoing projects that support the development and maintenance of the National Spatial Reference System, including a deeper look at survey locations where multiple space geodetic techniques co-exist.

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The Network of the Americas (formerly Plate Boundary Observatory) is a network of permanently-deployed instruments -- primarily GPS/GNSS receivers -- that monitor the deformation of Earth's crust by analyzing how their position changes over time. (Chris Toth)

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The Network of the Americas (NOTA) is an international geophysics sensor network spanning more than 20 countries and composed of more than 1,200 continuously operating instruments, including high-precision GPS (and multi-constellation GNSS) stations and borehole strain, seismic, and tilt instruments. The footprint of the network stretches from the Aleutian Islands to the Caribbean. It precisely measures the slow movement of tectonic plates and the sudden movement of earthquakes, among other solid Earth, hydrologic, and atmospheric phenomena.

Under the current GAGE Facility, EarthScope Consortium has integrated and federated pre-existing, NSF-funded GPS networks into a single pan-American network that included the Plate Boundary Observatory (PBO - spanning Alaska, the continental US, and Puerto Rico), TLALOCNet (40 stations in Mexico-MRI funded), and COCONet (85 stations spanning the Caribbean). The result is the Network of the Americas.

Science and Technological Applications

Data from NOTA contributes to a broad set of scientific fields and technological applications. Through an interagency agreement with the NSF and USGS, EarthScope feeds data from NOTA stations into the ShakeAlert Earthquake Early Warning System (currently operational in California, Oregon, and Washington). Adding these geodetic stations that measure ground movement enables faster identification of the largest earthquakes than seismometers can provide on their own. This improves the performance of earthquake alerts everywhere they are provided, but is particularly important in the Pacific Northwest-where a large earthquake could generate a dangerous tsunami that reaches shore in just 15 minutes.

The Yellowstone Volcano Observatory is another example of NOTA's contributions to hazards monitoring. Among the variety of instruments positioned in and around the Yellowstone Caldera are a number of NOTA GPS and borehole stations. These instruments measure the subtle surface deformation that provides an indicator of volcanic processes underground. This is critical to the mission of understanding Yellowstone and detecting any changes in the hazard it presents.

Additional science applications stretch beyond the solid Earth. Surface uplift and subsidence over seasons and years is used to infer changes in groundwater resources due to (for example) increased pumping during drought. Clever data processing also enables GPS/GNSS stations to measure atmospheric water vapor, ionospheric activity-and even soil moisture, snow depth, or water level near the station.

The use of high-precision positioning is continually growing for surveying, construction, autonomous vehicles (including aerial systems), and agriculture. NOTA stations are used as reference stations for RTK (Real Time Kinematics) positioning techniques, as well as for maintenance of the National Spatial Reference System-which defines the coordinate system-by NOAA's National Geodetic Survey.

To learn more about how all this works and the science it supports, visit our What is geophysics? pages.

Data Availability

Standard-rate GNSS/GPS data are collected at 15 seconds-per-sample and archived. Real-time high-rate (1 Hz) data are also available from many NOTA stations. Some stations also include meteorological instrument packs. Data can be accessed via our data page or data access notebooks. Strain, seismic, tilt, and pore data collected by the NOTA borehole stations are available here.

A Custom Data Request can be made for special situations at certain sites for the following:

GNSS/GPS high-rate (1 or 5 Hz rate)

borehole strain (processed 1 Hz rate)

borehole seismic (200 Hz rate)

surface laser strain (processed 1 Hz rate)

Decommissioning Project

At the direction of NSF, an effort to decommission about 10% of NOTA stations began in 2018. Stations were evaluated for 1) poor performance, 2) spatial redundancy, 3) high O&M costs (operations or permits), 4) ongoing manual data downloading, or 5) lower priority for NSF community PIs. In the end, 129 stations were selected for decommissioning, most of which were transferred to other organizations.

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The Network of the Americas (NOTA) is an international geophysics sensor network spanning more than 20 countries and composed of more than 1,200 continuously operating instruments, including high-precision GPS (and multi-constellation GNSS) stations and borehole strain, seismic, and tilt instruments. The footprint of the network stretches from the Aleutian Islands to the Caribbean.

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This article from NASA gives a brief introduction to GPS and other Global Navigation Satellite Systems. Adding to the knowledge the professor provided in week one, it goes on to explain the GPS signals and constellations, and what I found most interesting is the explanation of the status and systems of the satellites in the other areas such as GPS from the US, Galileo from EU, GLONASS from Russia, Beidou / Compass from China, and others. Understanding these would help you to perfectly plan out your field trip. (Lynate Wanyana)

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Trimble Business Centre (TBC) is a software that can be downloaded and installed on a PC. After using a GPS receiver for mapping in the field, TBC software can be used to post-process your results, you can view and edit your line work and produce a final deliverable. TBC can be purchased or used under a free trial. (Lynate Wanyana)

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Trimble Business Center | Software Download

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Customers with a valid maintenance license can download the latest version of Trimble Business Center software.

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Trimble Business Center Power Hours gives tutorials on how to use TBC software. For example, it teaches a first-timer how to collect field data using GPS receivers and then download the data into the software. You learn how to clean your data like connect points, delete and add new ones, create surfaces and so much more to create a complete deliverable. (Lynate Wanyana)

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Explore our collection of on-demand TBC Power Hour webinars to learn about workflows and receive industry tips.

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Geocaching forum for GPS users. This forum brings together various GPS users with various needs. Individuals discuss all sorts of topics like what GPS equipment one needs for a geocaching exercise, recent trends in the game and so on. (Lynate Wanyana)

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Any and all discussions about Global Positioning Systems, especially GPS receivers, paperless caching and related software or hardware. Please read our special guidelines before posting about personal sales of GPS units and geocaching-related items. Geocaching.com is not involved with these transactions.

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(Eric Ponce)

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GPS Forums - Hardware, Software, Technical

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GPS Forums - Hardware, Software, Technical

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Online listing of various forums discussing all things GPS. From general questions to more technical discussions focusing on specific devices. Easy search options. (Brant Giovannetti)

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GPS discussion forums for all types of satnav devices.

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I have read quite a few articles from this archive. Not as much variety of content, but if you find one of interest, they are very well vetted. (Brant Giovannetti)

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Below is a list of GPS-related articles that have been published in refereed scientific and technical journals, going back to the 1980s.

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About 1 hour, this is an introduction to ArcGIS Field Maps by Esri Events. Nice introduction if you have never used this software. You can hover over the progress bar to pick apart the video and only watch what areas interest you. (Brant Giovannetti)

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The world’s leading geospatial data authoring system includes tools for all your remote sensing, photogrammetry and geospatial analysis needs.

Post by David Goddard

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The world's leading geospatial data authoring system includes tools for all your remote sensing, photogrammetry and geospatial analysis needs.

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Overview

Geographic imaging professionals need to process vast amounts of geospatial data every day - often relying on software designed for other purposes and add-on applications that create almost as many problems as they solve. Save both time and money, leverage existing data investments, and improve your image analysis capabilities with ERDAS IMAGINE.

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Visit our online home for customer support, software licensing, product tutorials, user community engagement and more.

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ERDAS IMAGINE: Your Complete Remote Sensing Solution

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Your comprehensive solution for remote sensing, photogrammetry and geospatial analysis requirements.