pygnssutils

pygnssutils is an original series of GNSS CLI utilities and Python classes built around the following core libraries from the same stable:

pyubx2 - UBX parsing and generation library, which in turn utilises:
pynmeagps - NMEA parsing and generation library
pyrtcm - RTCM3 parsing library
pyspartn - SPARTN parsing library

Originally developed in support of the PyGPSClient GUI GNSS application, the utilities provided by pygnssutils can also be used in their own right:

GNSSStreamer class and its associated gnssdump CLI utility. This is essentially a configurable input/output wrapper around the pyubx2.UBXReader class with flexible message formatting and filtering options for NMEA, UBX and RTCM3 protocols.
GNSSSocketServer class and its associated gnssserver CLI utility. This implements a TCP Socket Server for GNSS data streams which is also capable of being run as a simple NTRIP Server.
GNSSNTRIPClient class and its associated gnssntripclient CLI utility. This implements a simple NTRIP Client which receives RTCM3 or SPARTN correction data from an NTRIP Server and (optionally) sends this to a designated output stream.
GNSSMQTTClient class and its associated gnssmqttclient CLI utility. This implements a simple SPARTN IP (MQTT) Client which receives SPARTN correction data from an SPARTN IP location service sends this to a designated output stream.
ubxsimulator utility. This provides a simple simulation of a GNSS receiver serial stream by generating synthetic UBX or NMEA messages based on parameters defined in a json configuration file.
ubxsave CLI utility. This saves a complete set of configuration data from any Generation 9+ u-blox device (e.g. NEO-M9N or ZED-F9P) to a file. The file can then be reloaded to any compatible device using the ubxload utility.
ubxload CLI utility. This reads a file containing binary configuration data and loads it into any compatible Generation 9+ u-blox device (e.g. NEO-M9N or ZED-F9P).
ubxsetrate CLI utility. A simple utility which sets NMEA or UBX message rates on u-blox GNSS receivers.
ubxcompare CLI utility. Utility for comparing two or more u-blox config files in either text (*.txt) or binary (*.ubx) format. Output files from the ubxsave utility can be used as binary input files.

The pygnssutils homepage is located at https://github.com/semuconsulting/pygnssutils.

Current Status

Sphinx API Documentation in HTML format is available at https://www.semuconsulting.com/pygnssutils.

Contributions welcome - please refer to CONTRIBUTING.MD.

Bug reports and Feature requests - please use the templates provided. For general queries and advice, post a message to one of the pygnssutils Discussions channels.

Installation

pygnssutils is compatible with Python >=3.8. It is recommended that the Python 3 scripts (bin) folder is in your PATH.

In the following, python3 & pip refer to the Python 3 executables. You may need to type python or pip3, depending on your particular environment.

The recommended way to install the latest version of pygnssutils is with pip:

python3 -m pip install --upgrade pygnssutils

If required, pygnssutils can also be installed into a virtual environment, e.g.:

python3 -m pip install --user --upgrade virtualenv
python3 -m virtualenv env
source env/bin/activate (or env\Scripts\activate on Windows)
(env) python3 -m pip install --upgrade pygnssutils
...
deactivate

For Conda users, pygnssutils is also available from conda forge:

conda install -c conda-forge pygnssutils

GNSSStreamer and gnssdump CLI

class pygnssutils.gnssdump.GNSSStreamer(**kwargs)

GNSSStreamer is essentially a configurable input/output wrapper around the pyubx2.UBXReader class. It supports a variety of input streams (including serial, file and socket) and outputs either to stdout (terminal), to an output file or to a custom output handler. The custom output handler can be a writeable output medium (serial, file, socket or queue) or an evaluable Python expression (e.g. lambda function).

The utility can output data in a variety of formats; parsed (1), raw binary (2), hexadecimal string (4), tabulated hexadecimal (8), parsed as string (16), JSON (32), or any combination thereof. You could, for example, output the parsed version of a UBX message alongside its tabular hexadecimal representation.

Any one of the following data stream specifiers must be provided:

port: serial port e.g. COM3 or /dev/ttyACM1
filename: fully qualified path to binary input file e.g. /logs/logfile.bin
socket: socket e.g. 192.168.0.72:50007 (port must be specified)
stream: any other instance of a stream class which implements a read(n) -> bytes method

For help and full list of optional arguments, type:

> gnssdump -h

Refer to the Sphinx API documentation for further details.

CLI Usage:

Assuming the Python 3 scripts (bin) directory is in your PATH, the CLI utility may be invoked from the shell thus:

Serial input example (with simple external output handler):

> gnssdump --port /dev/ttyACM1 --baudrate 9600 --timeout 5 --quitonerror 1 --protfilter 2 --msgfilter NAV-PVT --outputhandler "lambda msg: print(f'lat: {msg.lat}, lon: {msg.lon}')"

2022-06-23 19:23:12.052109: Parsing GNSS data stream from serial: Serial<id=0x10fe8f100, open=True>(port='/dev/ttyACM1', baudrate=9600, bytesize=8, parity='N', stopbits=1, timeout=5, xonxoff=False, rtscts=False, dsrdtr=False)...

lat: 51.352179, lon: -2.130762
lat: 51.352155, lon: -2.130751

File input example (in parsed and tabulated hexadecimal formats):

> gnssdump --filename pygpsdata.log --quitonerror 2 --format 9

2022-07-01 10:47:28.097706: Parsing GNSS data stream from file: <_io.BufferedReader name='pygpsdata.log'>...

<UBX(NAV-STATUS, iTOW=09:47:37, gpsFix=3, gpsFixOk=1, diffSoln=0, wknSet=1, towSet=1, diffCorr=0, carrSolnValid=1, mapMatching=0, psmState=0, spoofDetState=1, carrSoln=0, ttff=33377, msss=1912382)>
000: b562 0103 1000 f80c da1b 03dd 0208 6182  | b'\xb5b\x01\x03\x10\x00\xf8\x0c\xda\x1b\x03\xdd\x02\x08a\x82' |
016: 0000 3e2e 1d00 633d                      | b'\x00\x00>.\x1d\x00c=' |

<UBX(NAV-DOP, iTOW=09:47:37, gDOP=1.55, pDOP=1.32, tDOP=0.8, vDOP=1.11, hDOP=0.72, nDOP=0.59, eDOP=0.42)>
000: b562 0104 1200 f80c da1b 9b00 8400 5000  | b'\xb5b\x01\x04\x12\x00\xf8\x0c\xda\x1b\x9b\x00\x84\x00P\x00' |
016: 6f00 4800 3b00 2a00 9b75                 | b'o\x00H\x00;\x00*\x00\x9bu' |

<UBX(NAV-TIMEGPS, iTOW=09:47:37, fTOW=422082, week=2216, leapS=18, towValid=1, weekValid=1, leapSValid=1, tAcc=10)>
000: b562 0120 1000 f80c da1b c270 0600 a808  | b'\xb5b\x01 \x10\x00\xf8\x0c\xda\x1b\xc2p\x06\x00\xa8\x08' |
016: 1207 0a00 0000 3566                      | b'\x12\x07\n\x00\x00\x005f' |

Socket input example (in JSON format):

> gnssdump --socket 192.168.0.20:50010 --format 32 --msgfilter 1087

2022-06-23 19:27:10.103332: Parsing GNSS data stream from: <socket.socket fd=3, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=0, laddr=('127.0.0.1', 57399), raddr=('127.0.0.1', 50010)>...

{"GNSS_Messages: [{"class": "<class 'pyrtcm.rtcmmessage.RTCMMessage'>", "identity": "1087", "payload": {"DF002": 1087, "DF003": 0, "GNSSEpoch": 738154640, "DF393": 1, "DF409": 0, "DF001_7": 0, "DF411": 0, "DF412": 0, "DF417": 0, "DF418": 0, "DF394": 1152921504606846976, "NSat": 1, "DF395": 1073741824, "NSig": 1, "DF396": 1, "DF405_01": 0.00050994, "DF406_01": 0.00194752, "DF407_01": 102, "DF420_01": 0, "DF408_01": 0, "DF404_01": 0.5118}},...]}

Output file example (this filters unwanted UBX config & debug messages from a u-center .ubx file):

> gnssdump --filename COM6__9600_220623_093412.ubx --protfilter 1 --format 2 --verbosity 0 --outfile COM6__9600_220623_093412_filtered.ubx

GNSSSocketServer and gnssserver CLI

class pygnssutils.gnssserver.GNSSSocketServer(**kwargs)

GNSSSocketServer is essentially a wrapper around the GNSSStreamer and SocketServer classes (the latter based on the native Python ThreadingTCPServer framework) which uses queues to transport data between the two classes.

CLI Usage - Default Mode:

In its default configuration (ntripmode=0) gnssserver acts as an open, unauthenticated CLI TCP socket server, reading the binary data stream from a host-connected GNSS receiver and broadcasting the data to any local or remote TCP socket client capable of parsing binary GNSS data.

It supports most of gnssdump's formatting capabilities and could be configured to output a variety of non-binary formats (including, for example, JSON or hexadecimal), but the client software would need to be capable of parsing data in such formats.

Assuming the Python 3 scripts (bin) directory is in your PATH, the CLI utility may be invoked from the shell thus:

> gnssserver --inport "/dev/tty.usbmodem14301" --baudrate 115200 --hostip 192.168.0.20 --outport 6000
Starting server (type CTRL-C to stop)...
Starting input thread, reading from /dev/tty.usbmodem141301...

Parsing GNSS data stream from: Serial<id=0x1063647f0, open=True>(port='/dev/tty.usbmodem141301', baudrate=115200, bytesize=8, parity='N', stopbits=1, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False)...

Starting output thread, broadcasting on 192.168.0.20:6000...
Client ('192.168.0.56', 59565) has connected. Total clients: 1
Client ('192.168.0.34', 59566) has connected. Total clients: 2
Client ('192.168.0.41', 59567) has connected. Total clients: 3
Client ('192.168.0.56', 59565) has disconnected. Total clients: 2

gnssserver can be run as a daemon process (or even a service) but note that abrupt termination (i.e. without invoking the internal server.shutdown() method) may result in the designated TCP socket port being unavailable for a short period - this is operating system dependant.

For help and full list of optional arguments, type:

> gnssserver -h

Refer to the Sphinx API documentation for further details.

CLI Usage - NTRIP Mode:

gnssserver can also be configured to act as a single-mountpoint NTRIP Server/Caster (ntripmode=1), broadcasting RTCM3 RTK correction data to any authenticated NTRIP client on the standard 2101 port using the mountpoint name pygnssutils (NB: to use with standard NTRIP clients, output format must be set to binary (2) - this is the default, so the argument can be omitted):

> gnssserver --inport "/dev/tty.usbmodem14101" --hostip 192.168.0.20 --outport 2101 --ntripmode 1 --protfilter 4 --format 2 --ntripuser myuser --ntrippassword mypassword

NOTE THAT this configuration is predicated on the host-connected receiver being an RTK-capable device (e.g. the u-blox ZED-F9P) operating in 'Base Station' mode (either 'SURVEY_IN' or 'FIXED') and outputting the requisite RTCM3 RTK correction messages (1005, 1077, 1087, 1097, 1127, 1230). NTRIP server login credentials are set via command line arguments or environment variables PYGPSCLIENT_USER and PYGPSCLIENT_PASSWORD.

Clients

gnssserver will work with any client capable of parsing binary GNSS data from a TCP socket. Suitable clients include, but are not limited to:

(in default mode) pygnssutils's gnssdump cli utility invoked thus:

> gnssdump --socket hostip:outport

(in NTRIP mode) Any standard NTRIP client, including BKG's NTRIP client (BNC), ublox's legacy ucenter NTRIP client, or pygnssutil's gnssntripclient cli utility invoked thus:

> gnssntripclient -S hostip -P 2101 -M pygnssutils --ntripuser myuser --ntrippassword mypassword

The PyGPSClient GUI application.

GNSSNTRIPClient and gnssntripclient CLI

class pygnssutils.gnssntripclient.GNSSNTRIPClient(app=None, **kwargs)

The GNSSNTRIPClient class provides a basic NTRIP Client capability and forms the basis of a gnssntripclient CLI utility. It receives RTCM3 or SPARTN correction data from an NTRIP server and (optionally) sends this to a designated output stream. NTRIP server login credentials are set via command line arguments or environment variables PYGPSCLIENT_USER and PYGPSCLIENT_PASSWORD.

CLI Usage:

Assuming the Python 3 scripts (bin) directory is in your PATH, the CLI utility may be invoked from the shell thus:

To retrieve the sourcetable and determine the closest available mountpoint to the reference lat/lon, leave the mountpoint argument blank (the port defaults to 2101):

> gnssntripclient --server rtk2go.com --datatype RTCM --ggamode 1 --reflat 37.23 --reflon 115.81 --ntripuser myuser --ntrippassword mypassword
2022-06-03 20:15:54.510294: Closest mountpoint to reference location 37.23,-115.81 = WW6RY, 351.51 km

Complete sourcetable follows...

['AGSSIAAP', 'Acheres', 'RTCM 3.0', '1004(1),1006(13),1012(1),1033(31)', '2', 'GPS+GLO', 'SNIP', 'FRA', '48.97', '2.17', '1', '0', 'sNTRIP', 'none', 'N', 'N', '2540', '']
...

To retrieve correction data from a designated mountpoint (this will send NMEA GGA position sentences to the server at intervals of 60 seconds, based on the supplied reference lat/lon):

> gnssntripclient --server rtk2go.com --ggamode 1 --reflat 37.23 --reflon -115.81 --mountpoint UFOSRUS --ggainterval 60 --ntripuser myuser --ntrippassword mypassword
2022-06-03 11:55:10.305870: <RTCM(1077, DF002=1077, DF003=0, GNSSEpoch=471328000, DF393=1, ...

For help and full list of optional arguments, type:

> gnssntripclient -h

Refer to the Sphinx API documentation for further details.

GNSSMQTTClient and gnssmqttclient CLI

class pygnssutils.gnssmqttclient.GNSSMQTTClient(app=None, **kwargs)

The GNSSMQTTClient class provides a basic SPARTN IP (MQTT) Client capability and forms the basis of a gnssmqttclient CLI utility. It receives RTK correction data from a SPARTN IP (MQTT) location service (e.g. the u-blox / Thingstream PointPerfect service) and (optionally) sends this to a designated output stream.

CLI Usage:

The clientid provided by the location service may be set as environment variable MQTTCLIENTID. If this environment variable is set and the TLS certificate (*.crt) and key (*.pem) files provided by the location service are placed in the user's HOME directory, the utility can use these as default settings and may be invoked without any arguments.

Assuming the Python 3 scripts (bin) directory is in your PATH, the CLI utility may be invoked from the shell thus (press CTRL-C to terminate):

> gnssmqttclient
2023-02-23 18:40:41.552070: Starting MQTT client with arguments {'server': 'pp.services.u-blox.com', 'port': 8883, 'clientid': '{your-client-id}', 'region': 'eu', 'topic_ip': 1, 'topic_mga': 1, 'topic_key': 1, 'tlscrt': '/Users/{your-user}/device-{your-clientid}-pp-cert.crt', 'tlskey': '/Users/{your-user}/device-{your-client-id}-pp-key.pem'}, output None.
<UBX(RXM-SPARTN-KEY, version=1, numKeys=2, ... )>
<UBX(MGA-INI-TIME-UTC, type=16, etc... )>
<UBX(MGA-GPS-EPH, type=1, version=0, ... )>
...
<SPARTN(SPARTN-1X-GAD, msgType=2, nData=191 ... )>
<SPARTN(SPARTN-1X-OCB-GPS, msgType=0, nData=44 ... )>
...

For help and full list of optional arguments, type:

> gnssmqttclient -h

ubxsimulator utility

EXPERIMENTAL

Provides a simple simulation of a GNSS serial stream by generating synthetic UBX or NMEA messages based on parameters defined in a json configuration file. Can simulate a motion vector based on a specified course over ground and speed.

Example usage::

from pygnssutils import UBXSimulator
from pyubx2 import UBXReader

with UBXSimulator(configfile="/home/myuser/ubxsimulator.json", interval=1, timeout=3) as stream:
    ubr = UBXReader(stream)
    for raw, parsed in ubr:
        print(parsed)

Generates mock acknowledgements (ACK-ACK) for valid incoming UBX commands and polls.

See sample ubxsimulator.json configuration file in the \examples folder, and the Sphinx API documentation.

NB: Principally intended for testing Python GNSS application functionality. There is currently no attempt to simulate real-world satellite geodetics, though this could be done using e.g. the Python skyfield library and the relevant satellite TLE (orbital elements) data. We may look into adding such functionality as and when time permits. Contributions welcome.

ubxsave CLI

GENERATION 9+ DEVICES ONLY (e.g. NEO-M9N or ZED-F9P)

class pygnssutils.ubxconfig.UBXSaver(file, stream, **kwargs)

CLI utility which saves Generation 9+ UBX device configuration data to a file. ubxsave polls configuration data via the device's serial port using a series of CFG-VALGET poll messages. It parses the responses to these polls, converts them to CFG-VALSET command messages and saves these to a binary file. This binary file can then be loaded into any compatible UBX device (e.g. via the ubxload utility) to restore the saved configuration.

The CFG-VALSET commands are stored as a single transaction. If one or more fails on reload, the entire set will be rejected.

NB: The utility relies on receiving a complete set of poll responses within a specified waittime. If the device is exceptionally busy or the transmit buffer is full, poll responses may be delayed or dropped altogether. If the utility reports errors, try increasing the waittime.

CLI Usage:

> ubxsave --port /dev/ttyACM1 --baudrate 9600 --timeout 0.02 --outfile ubxconfig.ubx --verbosity 1

For help and full list of optional arguments, type:

> ubxsave -h

ubxload CLI

GENERATION 9+ DEVICES ONLY (e.g. NEO-M9N or ZED-F9P)

class pygnssutils.ubxconfig.UBXLoader(file, stream, **kwargs)

CLI utility which loads UBX configuration (CFG-VALSET) data from a binary file (e.g. one created by the ubxsave utility) and loads it into the volatile memory (RAM) of a compatible Generation 9+ UBX device via its serial port. It then awaits acknowledgements to this data and reports any errors.

CLI Usage:

> ubxload --port /dev/ttyACM1 --baudrate 9600 --timeout 0.05 --infile ubxconfig.ubx --verbosity 1

For help and full list of optional arguments, type:

> ubxload -h

ubxsetrate CLI

class pygnssutils.ubxconfig.UBXSetRate(**kwargs)

A simple CLI utility to set NMEA or UBX message rates on u-blox receivers via a serial port.

CLI Usage:

Assuming the Python 3 scripts (bin) directory is in your PATH, the CLI utility may be invoked from the shell thus:

This example sets the UBX NAV-HPPOSLLH message rate to 1:

> ubxsetrate --port /dev/ttyACM0 --baudrate 38400 --msgClass 0x01 --msgID 0x14 --rate 1

Opening serial port /dev/ttyACM0 @ 38400 baud...

Sending configuration message <UBX(CFG-MSG, msgClass=NAV, msgID=NAV-HPPOSLLH, rateDDC=1, rateUART1=1, rateUART2=1, rateUSB=1, rateSPI=1, reserved=0)>...

Configuration message sent.

Refer to pyubx2 documentation for available msgClass and msgID values. msgClass and msgID can be specified in either integer or hexadecimal formats.

Alternatively, the msgClass keyword can be set to one of the following group values (in which case the msgID keyword can be omitted):

"allubx" - set rate for all available UBX NAV messages
"minubx" - set rate for a minimum set of UBX NAV messages (NAV-PVT, NAV-SAT)
"allnmea" - set rate for all available NMEA messages
"minnmea" - set rate for a minimum set of NMEA messages (GGA, GSA, GSV, RMC, VTG)

For help and full list of optional arguments, type:

> ubxsetrate -h

ubxcompare CLI

class pygnssutils.ubxcompare.UBXCompare(infiles, form, diffsonly)

A simple CLI utility for comparing the contents of two or more u-blox configuration files. Files can be in text (*.txt) format (as used by u-center or ArduSimple) or binary (*.ubx) format (as used by PyGPSClient or ubxsave).

e.g.

ubxcompare --infiles "simpleRTK2B_FW132_Rover_1Hz-00.txt, simpleRTK2B_FW132_Rover_10Hz-00.txt" --format 0 --diffsonly 1

24 configuration commands processed in simpleRTK2B_FW132_Rover_1Hz-00.txt

24 configuration commands processed in simpleRTK2B_FW132_Rover_10Hz-00.txt

2 files processed, list of differences in config keys and their values follows:

CFG_MSGOUT_NMEA_ID_GSA_UART1 (DIFFS!): {1: '1', 2: '0'}
CFG_MSGOUT_NMEA_ID_GSA_UART2 (DIFFS!): {1: '1', 2: '0'}
CFG_MSGOUT_NMEA_ID_GSV_UART1 (DIFFS!): {1: '1', 2: '0'}
CFG_MSGOUT_NMEA_ID_GSV_UART2 (DIFFS!): {1: '1', 2: '0'}
CFG_RATE_MEAS (DIFFS!): {1: '1000', 2: '100'}

Total config keys: 1475. Total differences: 5.

For help and full list of optional arguments, type:

> ubxcompare -h

Troubleshooting

SPARTNTypeError or SPARTNParseError when parsing encrypted messages with 16-bit gnssTimetags (timeTagtype=0), e.g. GAD or some OCB messages:
```
pyspartn.exceptions.SPARTNTypeError: Error processing attribute 'group' in message type SPARTN-1X-GAD
```
This is almost certainly due to an invalid decryption key and/or basedate. Remember that keys are only valid for a 4 week period, and basedates are valid for no more than half a day. Note also that different GNSS constellations use different UTC datums e.g. GLONASS timestamps are based on UTC+3. Check with your SPARTN service provider for the latest decryption key(s), and check the original creation date of your SPARTN datasource.
SSL: CERTIFICATE_VERIFY_FAILED error when attempting to connect to SPARTN MQTT service using gnssmqttclient on MacOS:
```
[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed: unable to get local issuer certificate (_ssl.c:1000)
```
This is because gnssmqttclient is unable to locate the RootCA certificate for the MQTT Broker. This can normally be resolved as follows:
- Install the latest version of certifi: python3 -m pip install --upgrade certifi
- Run the following command from the terminal (substituting your Python path and version as required): /Applications/Python\ 3.12/Install\ Certificates.command
Unable to install crytography library required by pyspartn on 32-bit Linux platforms:
```
Building wheel for cryptography (PEP 517): started
Building wheel for cryptography (PEP 517): finished with status 'error'
```
Refer to cryptography installation README.md.

Graphical Client

A python/tkinter graphical GPS client which utilises the pygnssutils library and supports NMEA, UBX, RTCM3 and NTRIP protocols is available at:

https://github.com/semuconsulting/PyGPSClient

Author & License Information

semuadmin@semuconsulting.com

pygnssutils is maintained entirely by unpaid volunteers. It receives no funding from advertising or corporate sponsorship. If you find the library useful, a small donation would be greatly appreciated!

hugokernel/pygnssutils

pygnssutils

CLI Usage:

CLI Usage - Default Mode:

CLI Usage - NTRIP Mode:

Clients

CLI Usage:

CLI Usage:

EXPERIMENTAL

CLI Usage:

CLI Usage:

CLI Usage: