Here’s a list of information I’ve stumbled across while trying to come up to speed on precision GPS.  I’ve made no attempt to make it a comprehensive list, just things I’ve found particularly interesting or useful.

I started my journey into the world of GPS by taking the Stanford online course and reading the Misra/Eng book used in the course.  I found both to be extremely informative and well done and would highly recommend both of them to anyone interested in the subject.

Recommended GNSS books/wikis:

Global Positioning System:Signals, Measurements, and Performance (Misra/Eng):
GPS: Essentials of Satellite Navigation (online pdf)
GNSS DATA PROCESSING Volume I: Fundamentals and Algorithms (online pdf)
ESA Navipedia Wiki

Recommended Online GNSS Courses:

Stanford:  GPS: An Introduction to Satellite Navigation (Enge, van Diggelen)

RTKLIB info:

RTKLIB website
RTKLIB source code 2.4.3 (Github)
RTKLIB User Manual

My RTKLIB code and raw data:

My GitHub code repository
My RTKLIB executables
Raw GPS data sets

RTKLIB articles/papers/thesis:

Eval of Multi-GNSS RTK performance with u-blox NEO-M8N receivers (Takasu)
Low-costGPS/GLONASSPrecisePositioning Algorithm
(PhD Thesis: Carcanague)
Low-Cost, Single-Frequency GPS/GLONASS RTK for Road Users (Article: Carcanague)

U-blox GPS receiver info:

Neo-M8 Receiver Description
Neo-M8N raw data commands
u-center Ublox eval software download
u-center Ublox eval software User Guide
U-blox GPS antenna app notes
Getting raw data out of older generation Ublox receivers

Low cost receivers (under $1000):

CSGShop  (u-blox M8T receivers, ~$35)
Emlid Reach (u-blox M8T/ Intel Edison receivers ~$235)
SwiftNav   (low-cost L1/L2C receivers ~$600)
ComNav    (low-cost L1/L2/L2C receivers ~$900)
Tersus        (low-cost L1/L2/L2C receivers ~$900)

GPS articles/papers/thesis:

The LAMBDA method for integer ambiguity estimation: implementation aspects
GLONASS ambiguity resolution

Demystifying GLONASS Inter-Frequency Carrier Phase Biases
A RAIM approach to GNSS outlier and cycle slip detection using L1 carrier phase time-differences

RTKLIB/GPS tutorials/blogs:

Sparkfun GPS-RTK Hookup Guide
Sub Centimeter GPS With RTKLIB (short tutorial)
BlackDot GNSS blog (for those of you looking for something a bit more theoretical)


Emlid Reach Forum (Reach are M8T based receivers)
u-blox Forum


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