Resources

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:

GPS:Signals, Measurements, and Performance (Misra/Eng):
GPS: Essentials of Satellite Navigation (online pdf)
GNSS DATA PROCESS Vol 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 with u-blox NEO-M8N receivers (Takasu)
Low-cost GPS/GLO PrecisePositioning Algorithm
 (PhD Thesis: Carcanague)
Low-Cost, Single-Freq GPS/GLO RTK for Road Users (Article: Carcanague)

U-blox GPS receiver info:

Neo-M8 Receiver Description
ZED-F9P Interface Description
Ublox GPS antenna app notes
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/M8P/F9P receiver boards, $~75/$240/$260)
Ardusimple (u-blox F9P receiver board ~$200)
Sparkfun (u-blox M8P and F9P receiver boards (~$200/$220)
Emlid Reach (u-blox M8T integrated receivers ~$265)
SwiftNav   (low-cost L1/L2C/E5 receivers ~$600)
ComNav    (low-cost L1/L2/L2C/E5 receivers ~$900)
Tersus        (low-cost L1/L2/L2C/E5 receivers ~$900)

GPS articles/papers/thesis:

The LAMBDA method for integer ambiguity estimation: implementation
LAMBDA:FAQs
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)

Forums

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

Free NTRIP caster services

RTK2GO
SNIP

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