GNSSGo

A Go implementation of RTKLIB 2.4.3 for GNSS development and research.

Description

GNSSGo is a Go port of the popular RTKLIB C library for GNSS (Global Navigation Satellite System) data processing. It provides tools for real-time and post-processing of GNSS data, supporting various formats and protocols.

RTKLIB is an excellent tool for GNSS development and research. This project recodes RTKLIB in Go to leverage the language's modern features, concurrency model, and cross-platform capabilities.

This library can be imported into your Go applications to add RTK and other GNSS processing capabilities.

Features

Support for various GNSS systems (GPS, GLONASS, Galileo, QZSS, BeiDou, IRNSS)
Real-time and post-processing positioning
Various positioning modes (single, DGPS/DGNSS, Kinematic, Static, PPP-Kinematic, PPP-Static)
Support for standard formats (RINEX, RTCM, BINEX, etc.)
Serial, TCP/IP, NTRIP, and file handling
Thread-safe serial port communication using go.bug.st/serial

Update History

See CHANGELOG.md for a detailed history of changes.

2023/06/06 1.0 - Initial release
2023/06/15 1.1 - Updated to Go 1.21, replaced serial library with go.bug.st/serial

Requirements

Go 1.21 or later

Installation

As a Library

To use GNSSGO as a library in your Go project:

# Add the library to your project
go get github.com/bramburn/gnssgo/pkg/gnssgo

Then import it in your code:

import "github.com/bramburn/gnssgo/pkg/gnssgo"

For Development

# Clone the repository
git clone https://github.com/bramburn/gnssgo.git
cd gnssgo

# Build the main library
cd pkg/gnssgo
go build .
cd ../..

# Build an example application
cd app/convbin
go build .
cd ../..

# Build and run the GUI application
cd gui
wails dev
cd ..

# Run tests for the main library
cd unittest
go test .
cd ..

Project Structure

This project uses Go workspaces (go.work) to manage multiple modules:

pkg/gnssgo/ - The main library module (import as github.com/bramburn/gnssgo/pkg/gnssgo)
pkg/igs/ - IGS product downloader module
app/ - Applications that use the library
- app/convbin - RINEX converter application
- Other applications (uncomment in go.work to use)
gui/ - Wails GUI application
unittest/ - Unit tests for the library
examples/ - Example code showing how to use the library
test_import/ and test_import2/ - Examples of importing the library

Usage

As a Library

Check out the examples directory for comprehensive examples of how to use GNSSGO in your applications.

Using the Included Applications

In file 'go.work', you can choose your app by uncommenting the app path.

For configuring an app, you can define command line arguments in file 'launch.json' under the .vscode directory.

Using the GUI Application

The project includes a GUI application built with Wails, which provides a user-friendly interface for interacting with the GNSSGO library.

To run the GUI application in development mode:

cd gui
wails dev

To build the GUI application for production:

cd gui
wails build

The built application will be available in the gui/build/bin directory.

Key Components

RTK Positioning

// Initialize RTK control structure
var rtk gnssgo.Rtk

// Initialize processing options
var opt gnssgo.PrcOpt

// Set default processing options
opt.Mode = gnssgo.PMODE_KINEMA // Kinematic mode
opt.NavSys = gnssgo.SYS_GPS | gnssgo.SYS_GLO // Use GPS and GLONASS

// Initialize RTK control with options
rtk.InitRtk(&opt)

// Process observation data
rtk.RtkPos(obsData, numObs, &navData)

// Get solution
solution := rtk.RtkSol

Serial Port Usage

The library uses go.bug.st/serial for improved serial port communication:

import (
    "github.com/bramburn/gnssgo"
)

func main() {
    // Open a serial port stream
    // Format: port[:brate[:bsize[:parity[:stopb[:fctr[#port]]]]]]
    // Example: COM1:115200:8:N:1:off
    var stream gnssgo.Stream
    stream.OpenStream(gnssgo.STR_SERIAL, gnssgo.STR_MODE_RW, "COM1:115200:8:N:1")

    // Read data
    buff := make([]byte, 1024)
    n := stream.StreamRead(buff, 1024)

    // Close when done
    stream.StreamClose()
}

RINEX File Handling

// Initialize navigation data structure
var nav gnssgo.Nav

// Initialize observation data structure
var obs gnssgo.Obs

// Read a RINEX navigation file
status := gnssgo.ReadRnx("path/to/nav.rnx", 1, "", nil, &nav, nil)

// Read a RINEX observation file
status := gnssgo.ReadRnx("path/to/obs.rnx", 0, "", &obs, nil, nil)

Documentation

For detailed documentation on the library's functions and types, see the doc.go file.

Contributing

Contributions are welcome! Please see CONTRIBUTING.md for guidelines.

License

This project is licensed under the same terms as the original RTKLIB. See LICENSE for details.

Credits

Original RTKLIB by T. Takasu
Go port by Dr. Feng Xuebin, Explore Data Technology (Shenzhen) Ltd.
Maintained by Bhavesh Ramburn