CSSRlib - Toolkit for PPP-RTK/RTK in Python using Compact SSR

What is CSSRlib?

CSSRlib is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.

It supports the following open format:

• The observation data and ephemeris in RINEX
• The PPP/PPP-RTK correction data in RTCM SSR, IGS SSR, Compact SSR, ...
• The precise orbit/clock data in SP3 format.

Click this button for a quick demo in Google Colab

<a target="_blank" href="https://colab.research.google.com/github/hirokawa/cssrlib/blob/main/tutorials/cssrlib.ipynb"> <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/> </a>

Prerequisites

Additional python packages are required as prerequisites and can be installed via the following command

pip install -r requirements.txt

If the installation of cartopy fails, try installing libgeos++-dev first.

sudo apt-get install libgeos++-dev

NOTE: the module pysolid is used for the computation of solid Earth tides. It contains a hard-coded leap second table with an expiration date, which is set to the next possible injection date of a leap second at the time of the last update. The table is frequently updated by the package maintainers. The following warning is issed when the expiration date is exceeded:

Mild Warning -- time crossed leap second table boundaries. Boundary edge value used instead

If you encounter this warning when executing CSSRlib scripts, it can most likely be fixed by updating pysolid to the most recent version using

pip install -upgrade pysolid

Install

You can install the official version of CSSRlib using pip

pip install cssrlib

If you want to install the development version from this repository, first clone or download the sources and then run

pip install .

in the root directory, where the setup.cfg file is located.

Testing

Run orbit plot sample.

python test_eph.py

Run RTK sample.

 python test_rtk.py

Other samples with dataset are also available in a separate repository cssrlib-data including:

• Galileo-HAS PPP (SIS/IDD) processing example
• BDS-PPP processing example
• QZSS MADOCA-PPP processing example
• QZSS CLAS PPP-RTK processing example
• IGS (SP3+BIAS) PPP-AR processing example
• PPP via SouthPAN (PVS) processing example
• JPL GDGPS (GPSHAS) processing example
• Binary message parser for Septentrio receiver (Mosaic/PolaRX5)