Devuan fork of gpsd
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  1. <?xml version="1.0" encoding="ISO-8859-1"?>
  2. <!DOCTYPE refentry PUBLIC "-//OASIS//DTD DocBook XML V4.1.2//EN" "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd">
  3. <!--
  4. This file is Copyright (c) 2018 by the GPSD project
  5. SPDX-License-Identifier: BSD-2-clause
  6. --><refentry id="gpsrinex.1">
  7. <refentryinfo>
  8. <date>09 Nov 2018</date>
  9. </refentryinfo>
  10. <refmeta>
  11. <refentrytitle>gpsrinex</refentrytitle>
  12. <manvolnum>1</manvolnum>
  13. <refmiscinfo class="source">The GPSD Project</refmiscinfo>
  14. <refmiscinfo class="manual">GPSD Documentation</refmiscinfo>
  15. </refmeta>
  16. <refnamediv id="name">
  17. <refname>gpsrinex</refname>
  18. <refpurpose>Read data from gpsd convert to RINEX3 and save to a file.</refpurpose>
  19. </refnamediv>
  20. <refsynopsisdiv id="synopsis">
  21. <cmdsynopsis>
  22. <command>gpsrinex</command>
  23. <arg choice="opt">-D <replaceable>debuglevel</replaceable></arg>
  24. <arg choice="opt">-f <replaceable>filename</replaceable></arg>
  25. <arg choice="opt">-h</arg>
  26. <arg choice="opt">-i <replaceable>interval</replaceable></arg>
  27. <arg choice="opt">-n <replaceable>count</replaceable></arg>
  28. <arg choice="opt">-V</arg>
  29. <group>
  30. <replaceable>server</replaceable>
  31. <group>
  32. <replaceable>:port</replaceable>
  33. <group>
  34. <replaceable>:device</replaceable>
  35. </group>
  36. </group>
  37. </group>
  38. </cmdsynopsis>
  39. </refsynopsisdiv>
  40. <refsect1 id="description">
  41. <title>DESCRIPTION</title>
  42. <para>
  43. <application>gpsrinex</application> is a tool to connect to
  44. <application>gpsd</application> and output the received raw measurements
  45. as a RINEX 3 observation file. This is useful for sending raw measurements
  46. (pseudorange and carrierphase) from <application>gpsd</application> to
  47. a Precise Point Positioning (PPP) program or service.</para>
  48. <para>
  49. <application>gpsrinex</application> does not require root
  50. privileges, and can be run concurrently with other tools connecting
  51. to a local or remote <application>gpsd</application> without causing
  52. problems.</para>
  53. <para>gpsrinex needs the GPS receiver to be sending raw measurements
  54. to <application>gpsd</application>. Only a few GPS have this capability.
  55. In addition, the <application>gpsd</application> driver for that GPS
  56. must support raw mode. Currently only the u-blox driver has this support.
  57. Only a few u-blox 8 GPS implment the required UBX-RXM-RAWX message. The
  58. NEO-M8T is known to work, but requires configuration with
  59. <application>ubxtool</application>.</para>
  60. <para>RINEX has its own definitions and abbreviations. Be
  61. sure to consult their documentation. An observation file (.obs)
  62. contains data sets, called epochs, that contain the pseudorange
  63. and carrierphase for each satellite seen.</para>
  64. <para>
  65. <application>gpsrinex</application> by default will acquire
  66. 20 epochs spaced apart by 30 seconds. That will take 10 minutes to
  67. complete. Most users consider the 30 second interval to be optimal.
  68. Many PPP programs require at least 1 or 2 hours data, but no more than
  69. 24 or 48 hours of data. Most users consider 4 to 6 hours of data
  70. as a minimum for good accuracy. Additional hours will not yield much
  71. improvement. </para>
  72. <para>The output will consist of one RINEX 3 observation file that
  73. is ready to be read by your PPP program. The default filename will be
  74. in the form: gpsrinexYYYYJJJHHMMSS.obs. You can override this filename
  75. with the -f option.</para>
  76. <para>Optionally a server, TCP/IP port number and remote device can
  77. be given. If omitted, <application>gpsrinex</application> connects to
  78. localhost on the default port (2947) and watches all devices opened by
  79. <application>gpsd</application>.</para>
  80. </refsect1>
  81. <refsect1 id="options">
  82. <title>OPTIONS</title>
  83. <para>-D [debuglevel] set debug level to [debuglevel].</para>
  84. <para>-f [filename] save RINEX into [filename].</para>
  85. <para>-h makes <application>gpsrinex</application> print
  86. a usage message and exit.</para>
  87. <para>-i [interval] wait [interval] seconds between epochs. OPUS
  88. accepts intervals of 1, 2, 3, 5, 10, 15 or,30 seconds. OPUS then
  89. reduces the data to 30 second intervals. Defeault is 30.</para>
  90. <para>-n [count] causes [count] epochs to be output. OPUS requires a
  91. minimum af 15 minutes, and a maximum of 48 hours, of data.</para>
  92. <para>-V makes <application>gpsrinex</application> print
  93. its version and exit.</para>
  94. </refsect1>
  95. <refsect1 id="exampletitle">
  96. <title>EXAMPLES</title>
  97. <para>Example 1:</para>
  98. <para>Create a 4 hour .obs file. With a running
  99. <application>gpsd</application> accessible on the localhost do all of
  100. the following, in order. Order matters.</para>
  101. <para>The raw measurement messages are long. Be sure your serial port
  102. speed is high enough:
  103. <programlisting>
  104. gpsctl -s 115200
  105. </programlisting></para>
  106. <para>Disable all NMEA messages, and enable binary messages:
  107. <programlisting>
  108. ubxtool -d NMEA
  109. ubxtool -e BINARY
  110. </programlisting></para>
  111. <para>The NEO-M8N will only reliably output raw measurements
  112. when only the GPS and QZSS constellations are enabled. If your PPP
  113. service can use GLONASS, then enable that as well. Be sure to
  114. disable, before enable, so as not to momentarily have too many
  115. constellations selected.
  116. <application>ubxtool</application>, as recommended by u-blox, enables
  117. the QZSS constellation in tandem with GPS. Disable all constellations,
  118. except GPS (and QZSS):
  119. <programlisting>
  120. ubxtool -d BEIDOU
  121. ubxtool -d GALILEO
  122. ubxtool -d GLONASS
  123. ubxtool -d SBAS
  124. ubxtool -e GPS
  125. </programlisting></para>
  126. <para>Verify the constellations enabled:
  127. <programlisting>
  128. ubxtool -p CFG-GNSS
  129. </programlisting></para>
  130. <para>Enable the good stuff, the raw measurement messages:
  131. <programlisting>
  132. ubxtool -e RAWX
  133. </programlisting></para>
  134. <para>Verify raw data messages are being sent:
  135. <programlisting>
  136. ubxtool | fgrep RAWX
  137. </programlisting>
  138. You should see this output:
  139. <programlisting>
  140. UBX-RXM-RAWX:
  141. UBX-RXM-RAWX:
  142. </programlisting></para>
  143. <para>Collect 4 hours of samples at 30 second intervals, save the
  144. RINEX 3 observations in the file today.obs:
  145. <programlisting>
  146. gpsrinex -i 30 -n 480 -f today.obs
  147. </programlisting></para>
  148. <para>Wait 4 hours. Enjoy a meal, or do some exercise. When
  149. <application>gpsrinex</application> finishes, upload the file today.obs
  150. to your favorite PPP service.</para>
  151. <para>Example 2:</para>
  152. <para>Collect raw masurement data from a remote gpsd. The
  153. process it later with <application>gpsrinex</application> and
  154. <application>gpsprof</application>.</para>
  155. <para>Ensure the GPS is configured properly, as shown in Example 1.</para>
  156. <para>Grab 4 hours of raw live data from remote
  157. <application>gpsd</application> at 10.168.1.2:
  158. <programlisting>
  159. gpspipe -x 14400 -R 10.168.1.2 > 4h-raw.ubx
  160. </programlisting></para>
  161. <para>When <application>gpspipe</application> is complete, feed the
  162. data to <application>gpsfake</application>:
  163. <programlisting>
  164. gpsfake -1 -P 3000 4h-raw.ubx
  165. </programlisting></para>
  166. <para>In another window, feed the data to
  167. <application>gpsrinex</application>. Use -n 10000000 so that
  168. all the data from the raw file is used::
  169. <programlisting>
  170. gpsrinex -i 30 -n 1000000
  171. </programlisting></para>
  172. <para>Repeat the process with
  173. <application>gpsfake</application> to send the data to
  174. <application>gpsprof</application>.</para>
  175. </refsect1>
  176. <refsect1 id="see_also">
  177. <title>SEE ALSO</title>
  178. <para>One service known to work with obsrinex output is at:
  179. https://webapp.geod.nrcan.gc.ca/geod/tools-outils/ppp.php</para>
  180. <para>OPUS requires 2 frequency observation files.
  181. https://www.ngs.noaa.gov/OPUS/</para>
  182. <para>The curious can find the RINEX 3.03 format described here:
  183. ftp://igs.org/pub/data/format/rinex303_update1.pdf</para>
  184. <para>
  185. <citerefentry>
  186. <refentrytitle>gpsd</refentrytitle>
  187. <manvolnum>8</manvolnum>
  188. </citerefentry>,
  189. <citerefentry><refentrytitle>gpsfake</refentrytitle><manvolnum>1</manvolnum></citerefentry>,
  190. <citerefentry><refentrytitle>ubxtool</refentrytitle><manvolnum>1</manvolnum></citerefentry>.
  191. </para>
  192. </refsect1>
  193. <refsect1 id="maintainer">
  194. <title>AUTHOR</title>
  195. <para>Gary E. Miller <email>gem@rellim.com</email>.</para>
  196. </refsect1>
  197. </refentry>