G-Nut/Anubis - standard point positioning

If reliable navigation messages are available for any global constellation, Anubis estimates coordinates of the receiver using the standard point positioning (SPP) method and pseudo-range observations only. The receiver position is currently estimated for each GNSS separately using a common sampling rate of 15 minutes. Below figures show a) left: the comparison of RMS of NEU coordinate repeatability (expressed in meters) from individual available GNSS and b) right: horizontal epoch-wise positioning with a relative size of point calculated from the Geometric Dilution of Precision (GDOP) values.

Setting sec_est="1" requests the output of mean coordinates and root-mean-squares calculated from coordinate repeatabilities. Individually, Cartesian and spherical coordinates are reported, while for the latter root-mean-squares are expressed in North,East,Up [m]. Finally, numbers of epochs of all observations and epoch of outliers are reported.

#====== Estimated values (v.1) #XYZGNS 2015-01-01 00:00:00 X [m] Y [m] Z [m] Xrms[m] Yrms[m] Zrms[m] #ALL #Excl =XYZGPS 2016-04-09 00:00:00 3979319.7312 1050313.6456 4857065.7845 4.3 2.5 5.6 83 0 =XYZGAL 2016-04-09 00:00:00 3979318.5510 1050312.2346 4857064.6756 1.1 0.7 2.0 6 0 =XYZGLO 2016-04-09 00:00:00 3979320.5406 1050312.4686 4857066.1512 5.4 3.9 6.2 82 0 =XYZBDS 2016-04-09 00:00:00 3979326.2739 1050316.0906 4857070.9199 6.1 6.6 5.4 16 0 #BLHGNS 2015-01-01 00:00:00 B [deg] L [deg] H [m] Nrms[m] Erms[m] Urms[m] #All #Excl =BLHGPS 2016-04-09 00:00:00 49.913670787 14.785625256 594.2677 3.5 3.8 5.8 82 1 =BLHGAL 2016-04-09 00:00:00 49.913674935 14.785610477 592.2093 1.1 1.0 2.0 6 0 =BLHGLO 2016-04-09 00:00:00 49.913669835 14.785606558 594.6156 3.4 6.3 7.4 82 0 =BLHBDS 2016-04-09 00:00:00 49.913652956 14.785634942 602.4288 1.8 10.6 7.7 16 0

Setting sec_est="2" enables epoch-wise estimates reported in Cartesian and spherical coordinates and the GDOP.

#====== Estimated values (v.2) #POSGNS 2016-04-09 00:00:00 X [m] Y [m] Z [m] B [deg] L [deg] H [m] GDOP POSGPS 2016-04-09 00:00:00 3979306.8231 1050311.0680 4857056.4631 49.913707433 14.785636440 578.4324 2.8 POSGPS 2016-04-09 00:15:00 3979305.6479 1050310.0561 4857051.9432 49.913690859 14.785626995 574.0764 1.6 POSGPS 2016-04-09 00:30:00 3979315.2777 1050313.2778 4857064.1949 49.913692089 14.785636148 589.9750 1.7 POSGPS 2016-04-09 01:00:00 3979318.3107 1050314.8324 4857069.8352 49.913701841 14.785646298 596.4341 2.3 POSGPS 2016-04-09 01:15:00 3979318.6207 1050314.4175 4857072.1341 49.913713816 14.785639612 598.3178 1.4 POSGPS 2016-04-09 01:30:00 3979319.9329 1050314.4277 4857073.8514 49.913715013 14.785635087 600.4503 1.2 POSGPS 2016-04-09 01:45:00 3979321.1463 1050316.3247 4857072.8193 49.913697639 14.785656312 600.7279 1.7 ... POSGAL 2016-04-09 05:00:00 3979319.1501 1050312.6081 4857068.1717 49.913690533 14.785613375 595.3185 20.4 POSGAL 2016-04-09 05:15:00 3979318.3536 1050312.8222 4857062.6068 49.913663240 14.785619088 590.6002 13.4 POSGAL 2016-04-09 05:30:00 3979317.4678 1050312.1351 4857062.4302 49.913669314 14.785612986 589.8006 7.6 POSGAL 2016-04-09 21:15:00 3979318.6717 1050310.8608 4857064.3048 49.913674397 14.785591556 591.7751 2.6 POSGAL 2016-04-09 22:15:00 3979317.2640 1050312.2080 4857064.7724 49.913684101 14.785614691 591.4777 3.1 POSGAL 2016-04-09 22:30:00 3979320.3989 1050312.7737 4857065.7677 49.913668022 14.785611168 594.2840 3.5 ... POSGLO 2016-04-09 00:15:00 3979332.2068 1050304.6556 4857069.5571 49.913625684 14.785459942 603.2009 1.4 POSGLO 2016-04-09 00:30:00 3979334.6836 1050306.9721 4857072.0944 49.913619835 14.785482323 607.0649 2.3 POSGLO 2016-04-09 01:00:00 3979328.1432 1050311.0285 4857071.8959 49.913655060 14.785560162 603.5074 1.9 POSGLO 2016-04-09 01:15:00 3979329.3492 1050314.2297 4857069.0803 49.913625122 14.785598967 602.6303 1.9 POSGLO 2016-04-09 01:30:00 3979329.8136 1050317.1975 4857074.7646 49.913649730 14.785637266 607.7560 2.4 POSGLO 2016-04-09 01:45:00 3979326.2326 1050315.9207 4857073.4863 49.913668385 14.785632803 604.3387 0.9 POSGLO 2016-04-09 02:00:00 3979324.9440 1050315.8449 4857068.5089 49.913648274 14.785636360 599.7158 1.5 ... POSBDS 2016-04-09 03:15:00 3979316.1793 1050310.1098 4857058.8012 49.913660430 14.785590301 585.8891 104.7 POSBDS 2016-04-09 03:30:00 3979326.0686 1050310.6496 4857068.1741 49.913647976 14.785562433 599.3061 36.7 POSBDS 2016-04-09 03:45:00 3979323.2749 1050311.7904 4857067.6227 49.913661361 14.785587714 597.3323 19.7 POSBDS 2016-04-09 04:00:00 3979324.3052 1050311.0479 4857067.6911 49.913656208 14.785574060 597.9040 13.1 POSBDS 2016-04-09 04:15:00 3979327.3343 1050313.1327 4857070.0936 49.913646313 14.785591360 601.9707 9.9 POSBDS 2016-04-09 04:30:00 3979329.6381 1050313.4488 4857072.3764 49.913643652 14.785587430 605.2036 8.1 POSBDS 2016-04-09 05:45:00 3979331.7364 1050314.0209 4857076.6807 49.913653611 14.785587676 609.8972 10.0 POSBDS 2016-04-09 06:00:00 3979327.2770 1050311.5438 4857070.0478 49.913649218 14.785570176 601.6389 11.7 POSBDS 2016-04-09 06:15:00 3979332.6155 1050312.0192 4857076.0570 49.913647668 14.785557609 609.6384 13.2 POSBDS 2016-04-09 06:30:00 3979337.7980 1050313.6714 4857079.8543 49.913632286 14.785561435 616.0418 13.9 ...