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The GPS Toolbox

These papers were published to the GPS Toolbox before 1 September 2024. Source code is no longer available through the NGS website. Please contact individual authors for their code, or contact the Editor in Chief at the GPS Solutions journal.


  • Vol.3, No.3: Minimal Spanning Tree algorithm by V. Kevin .M. Whitney
  • Vol.3, No.4: Date/Time conversion algorithms by Benjamin W. Remondi
  • Vol.4, No.1: Perl Script for reading SP3 precise ephemerides by Doug Hunt (a *.tar.gz file)
  • Vol.4, No.2: Ambiguity Decorrelation algorithm by Shaowei Han
  • Vol.4, No.3: GPS MATLAB Tools at Aalborg University by Kai Borre
  • Klobuchar Ionospheric Model subroutines by Ola Ovstedal
  • Vol.5, No.1 & 2: C++ Classes for Reading and Writing RINEX files by Stephen Hilla & Gordon Adams
  • Vol.5, No.3: ITRF Transformations by Jan Kouba
  • Algebraic solution of GPS pseudo-ranging equations by Joseph L. Awange & Erik W. Grafarend (tech. paper in Vol.5, No.4)
  • Vol.6, No.1: GPS Point Position Calculation by Sam Storm van Leeuwen
  • Vol.6, No.2: Creating and Viewing Skyplots by John Marshall
  • Vol.6, No.3: A New Plotting Program for Windows-based TEQC Users by Stephen Hilla
  • Vol.6, No.4: A Brief Review of Basic GPS Orbit Interpolation Strategies by Mark S. Schenewerk
  • Vol.7, No.1: The Easy Suite (MATLAB for GPS) by Kai Borre
  • Vol.7, No.2: Sharc and Schedg by Keith Stark
  • Vol.7, No.3: Matlab tools for plotting Velocities by Thomas Herring
  • Vol.7, No.4: Accessing the GPS Seamless Archive by Michael Scharber, Yehuda Bock, and Brent Gilmore
  • Vol.8, No.1: Plotting Pseudorange Multipath with Respect to Azimuth and Elevation by Stephen Hilla
  • Vol.8, No.3: Computing Satellite Velocity using the Broadcast Ephemeris by Benjamin W. Remondi
  • Vol.9, No.1: C++ and Java Code for recursion formulas in mathematical geodesy by Klaus Hehl
  • Vol.9, No.3: SiGOG: Simulated GPS Observation Generator by Elsa Mohino, Mauricio Gende, Claudio Brunini, Miguel Heraiz
  • Vol.10, No.1: Polynomial interpolation of GPS satellite coordinates by Milan Horemuz and Johan Vium Andersson
  • Vol.10, No.4: SIMD correlator library for GNSS software receivers by Gregory W. Heckler and James L. Garrison
  • Vol.11, No. 1: Finding the repeat times of the GPS constellation by Duncan Carr Agnew and Kristine M. Larson
  • Vol.11, No. 2: The GPSTk: an open source GPS toolkit by R. Benjamin Harris and Richard G. Mach
  • Vol.11, No. 3: TEQC multipath metrics in MATLAB by Clement Ogaja and Jim Hedfors
  • Vol.11, No. 4: MILES: MATLAB package for solving Mixed Integer LEast Squares problems by Xiao-Wen Chang and Tianyang Zhou
  • Vol.11, No. 4: Computer algebra solution of the GPS N-points problem by Bela Palancz, Joseph L. Awange, and Erik W. Grafarend
  • Vol.12, No. 1: UNB3m_pack: a neutral atmosphere delay package for radiometric space techniques by Rodrigo F. Leandro, Richard B. Langley, and Marcelo C. Santos
  • Vol.12, No. 2: CATS: GPS coordinate time series analysis software by Simon D. P. Williams
  • Vol.13, No. 3: A MATLAB toolbox for attitude determination with GPS multi-antenna systems by Zhen Dai, S. Knedlik, and O. Loffeld
  • Vol.13, No. 4: MATLAB Algorithm Availability Simulation Tool (MAAST) by Shau-Shiun Jan, Wyant Chan, and Todd Walter
  • Vol.14, No. 3: GNSS data management and processing with the GPSTk by Dagoberto Salazar, Manuel Hernandez-Pajares, Jose M. Juan, and Jaume Sanz
  • Vol.15, No.3: iGPS: IDL tool package for GPS position time series analysis by Yunfeng Tian
  • Vol.15, No.3: RINEX_HO: second- and third-order ionospheric corrections for RINEX observation files by H. A. Marques, J. F. G. Monico and M. Aquino
  • Vol.15, No.4: SATLSim: a Semi-Analytic framework for fast GNSS tracking loop simulations by Daniele Borio, Pratibha B. Anantharamu and Gerard Lachapelle
  • Vol.15, No.4: An ActiveX control for embedding GPS capability in custom applications by Khalid Amin Khan, Gulraiz Akhter, Zulfiqar Ahmad
  • Vol.16, No.2: MATLAB software for GPS cycle-slip processing by Zhen Dai
  • Vol.16, No.3: Sigseg: a tool for the detection of position and velocity discontinuities in geodetic time-series by Alfonso Vitti
  • Vol.16, No.4: M_DCB: Matlab code for estimating GNSS satellite and receiver differential code biases by Rui Jin, Shuanggen Jin, Guiping Feng
  • Vol.18, No.1: EPC: Matlab software to estimate Euler pole parameters by Mohammad Ali Goudarzi, Marc Cocard, Rock Santerre
  • Vol.18, No.3: An open source GPS multipath simulator in Matlab/Octave by Felipe G. Nievinski and Kristine M. Larson
  • Vol.20, No.3: goGPS: open-source MATLAB software by Antonio M. Herrera, Hendy F. Suhandri, Eugenio Realini, Mirko Reguzzoni, and M. Clara de Lacy
  • Vol.21, No.3: TSAnalyzer, a GNSS Time Series Analysis Software by WU Dingcheng, YAN Haoming, and SHEN Yingchun
  • (2018) 22:25 GMIS: A MATLAB-based Kriged Kalman Filter Software for Interpolating Missing Data in GNSS Coordinate Time Series by Ning Liu, Wujiao Dai, Rock Santerre, and Cuilin Kuang
  • (2018) 22:33 GAMP: An open-source software of multi-GNSS precise point positioning using undifferenced and uncombined observations by Feng Zhou, Danan Dong, Weiwei Li, Xinyuan Jiang, Jens Wickert, and Harald Schuh
  • (2018) 22:80 Software Tools for GNSS Interferometric Reflectometry (GNSS-IR) by Carolyn Roesler and Kristine M. Larson
  • (2018) 22:113 PPPH: A MATLAB-based software for multi-GNSS precise point positioning analysis by Berkay Bahadur and Metin Nohutcu
  • (2019) 23:52 SARI: interactive GNSS position time series analysis software by Alvaro Santamaria-Gomez
  • (2019) 23:46 Open Source MATLAB Code for GPS Vector Tracking on a Software-Defined Receiver by Bing Xu and Li-Ta Hsu
  • (2019) 23:50 LSWAVE: a MATLAB software for the least-squares wavelet and cross-wavelet analyses by Ebrahim Ghaderpour and Spiros D. Pagiatakis
  • (2019) 23:72 A SIMD Intrinsic Correlator Library for GNSS Software Receivers by Damian Miralles and Dennis M. Akos
  • (2019) 23:91 PRIDE PPP-AR: an Open-source Software for GPS PPP Ambiguity Resolution by Jianghui Geng, Xingyu Chen, Yuanxin Pan, Shuyin Mao, Chenghong Li, Jinning Zhou, and Kunlun Zhang
  • (2019) 23:101 GLONASS ambiguity resolution by P. J. G. Teunissen and A. Khodabandeh
  • (2020) 24:19 PANG-NAV: a tool for processing GNSS measurements in SPP, including RAIM functionality by Antonio Angrisano, Salvatore Gaglione, Nicola Crocetto, and Mario Vultaggio
  • (2020) 24:63 Framework for GREIS-formatted GNSS data manipulation (C++ code for manipulating Javad GNSS receiver data) by Igor M. Aleshin, Kirill I. Kholodkov, Vladimir N. Koryagin
  • (2020) 24:66 MG-APP: An open-source software for multi-GNSS precise point positioning and application analysis by Gongwei Xiao, Genyou Liu, Jikun Ou, Guolin Liu, Shengli Wang, Aizhi Guo
  • (2019) 23:60 Design and implementation of an open-source BDS-3 B1C/B2a SDR receiver by Yafeng Li, Nagaraj C. Shivaramaiah, and Dennis M. Akos
  • (2020) 24:87 GDP: An Open Source GNSS Data Preprocessing Toolkit by Zhengsheng Chen, Yang Cui, Linyang Li, Qinghua Zhang, Zhiping Lu, Xuerui Li, Yingcai Kuang, Kaichun Yang, Fengjuan Rong
  • (2020) 24:84 Precise vehicle dynamic heading and pitch angle using time-differenced measurements from a single GNSS antenna by Rui Sun, Qi Cheng, Junhui Wang
  • (2020) 24:94 Python software tools for GNSS interferometric reflectometry (GNSS-IR) by Angel Martin, Raquel Lujan, and Ana Belen Anquela
  • (2021) 25:73 An open-source low-cost sensor for SNR-based GNSS reflectometry: Design and long-term validation towards sea level altimetry by M.A.R. Fagundes, I. Mendonsa-Tinti, A.L. Iescheck, D.M. Akos, and F. Geremia-Nievinski
  • (2021) 25:18 PPPLib: An open-source software for precise point positioning using GPS, BeiDou, Galileo, GLONASS, and QZSS with multi-frequency observations by Chao Chen, Guobin Chang
  • (2021) 25:66 GREAT-UPD: An open-source software for uncalibrated phase delay estimation based on multi-GNSS and multi-frequency observations by Xingxing Li, Xinjuan Han, Xin Li, Gege Liu, Guolong Feng, Bo Wang, Hongjie Zheng
  • (2021) 25:55 GiRsnow: An open-source software for snow depth retrievals using GNSS Interferometric Reflectometry by Shuangcheng Zhang, Jilun Peng, Chenglong Zhang, Jingjiang Zhang, Lixia Wang, Tao Wang, Qi Liu
  • (2021) 25:86 SUPREME: an open-source single-frequency precise point positioning software by Chuanbao Zhao, Baocheng Zhang, and Xiao Zhang
  • (2021) 25:85 JUST: MATLAB and Python Software for Change Detection and Time Series Analysis by Ebrahim Ghaderpour
  • (2021) 25:108 GINav: a MATLAB-based software for data processing and analysis of a GNSS/INS integrated navigation system by Kai Chen, Guobin Chang, and Chao Chen
  • (2022) 26:7 Python software to transform GPS SNR wave phases to volumetric water content by Angel Martin, Ana Belen Anquela, Sara Ibanez, Carlos Baixauli, and Sara Blanc
  • (2022) 26:16 GIRAS: an open-source MATLAB-based software for GNSS-IR analysis by Cemali Altuntas and Nursu Tunalioglu
  • (2022) 26:81 Implementation and performance analysis of the PDR/GNSS integration on a smartphone by Changhui Jiang, Yuwei Chen, Chen Chen, Jianxin Jia, Haibin Sun, Tinghuai Wang & Juha Hyyppa
  • (2022) 26:90 Open-source optimization method for android smartphone single point positioning by Changhui Jiang, Yuwei Chen, Chen Chen, Jianxin Jia, Haibin Sun, Tinghuai Wang & Juha Hyyppa
  • (2022) 26:114 GNSS2TWS: an open-source MATLAB-based tool for inferring daily terrestrial water storage changes using GNSS vertical data by Zhongshan Jiang, Ya-Ju Hsu, Linguo Yuan, Wei Feng, Xinghai Yang & Miao Tang
  • (2023) 27:42 M_GIM: a MATLAB-based software for multi-system global and regional ionospheric modeling by Chunyuan Zhou, Ling Yang, Bofeng Li & Timo Balz
  • (2023) 27:45 PPP-ARISEN: an open-source precise point positioning software with ambiguity resolution for interdisciplinary research of seismology, geodesy and geodynamics by Chengfeng Zhang, Aizhi Guo, Sidao Ni, Gongwei Xiao, & Hao Xu
  • (2023) 27:63 GDDS: Python software for GNSS data download by Liguo Lu, Qiao Liang, Weijian Hu, and Tangting Wu
  • (2023) 27:84 Open-source software for multi-GNSS inter-frequency clock bias estimation by Xingxing Li, Hongjie Zheng, Xin Li, Yongqiang Yuan, Jiaqi Wu & Xinjuan Han
  • (2023) 27:174 An open-source software package for Precise Point Positioning: raPPPid by Marcus Franz Glaner & Robert Weber
  • (2023) 27:187 POSGO: an open-source software for GNSS pseudorange positioning based on graph optimization by Zhen Li, Jing Guo, & Qile Zhao
  • (2023) 27:197 GHASP: a Galileo HAS parser by D. Borio, M. Susi, & C. Gioia
  • (2024) 28:31 PPPH-VA: an open-source software for real-time multi-GNSS variometric approach using single- and dual-frequency observations by B. Bahadur, M. Bezcioglu, & C.O. Yigit
  • (2024) 28:95 Python toolbox for android GNSS raw data to RINEX conversion by J. Hernandez Olcina, A. B. Anquela Julian, A. E. Martin Furones
  • (2024) 28:131 GTS_CME: an open-source MATLAB-based software for the analysis of common mode errors in GNSS coordinate time series by Z. Xiao, B. Liu, W. Dai, X. Ma, X. Xing & Y. Luo
  • (2024) 28:138 GDPS: an open-source python-based software package for multi-GNSS data processing by L. Lu, W. Hu, and T. Wu
  • (2024) 28:151 M_IFCB: a MATLAB-based software for multi-GNSS inter-frequency clock bias estimation and forecast by C. Yue, H. Wang, C. Xu, Y. Dang, S. Gu, & H. Chen
  • (2024) 28:165 Gnssrefl: an open source software package in python for GNSS interferometric reflectometry by K. M. Larson
  • (2024) 28:169 HASPPP: an open-source Galileo HAS embeddable RTKLIB decoding package by R. Zhang, R. Tu, & X. Lu