gnsskit 0.4.0__tar.gz

gnsskit-0.4.0/LICENSE

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+MIT License
+
+Copyright (c) 2023-2026 Francesco Ioli
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

gnsskit-0.4.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: gnsskit
+Version: 0.4.0
+Summary: RTKLIB-based GNSS post-processing toolkit: RINEX tools, RTKLIB wrappers, static baselines and network adjustment, kinematic trajectories
+Keywords: gnss,gps,rtklib,ppk,surveying,least-squares
+Author: Francesco Ioli
+Author-email: Francesco Ioli <francesco.ioli@polimi.it>
+License-Expression: MIT
+License-File: LICENSE
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Scientific/Engineering :: GIS
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Typing :: Typed
+Requires-Dist: numpy
+Requires-Dist: pandas>=2
+Requires-Dist: scipy ; extra == 'network'
+Requires-Dist: pyproj ; extra == 'network'
+Requires-Dist: matplotlib ; extra == 'plot'
+Requires-Python: >=3.10
+Project-URL: Repository, https://github.com/franioli/gnsskit
+Project-URL: Issues, https://github.com/franioli/gnsskit/issues
+Provides-Extra: network
+Provides-Extra: plot
+Description-Content-Type: text/markdown
+
+# gnsskit
+
+Shared tools for post-processing GNSS data with [RTKLIB](https://www.rtklib.com/) `rnx2rtkp`, used by
+[djippk](https://github.com/franioli/djippk) (drone PPK) and [stopgo](https://github.com/franioli/stopgo)
+(stop-and-go surveys).
+
+- **RTKLIB wrappers** (`gnsskit.rtklib`): `RtkConfig`, a typed, immutable set of `rnx2rtkp` options
+  (`from_file`, `updated`, `with_options`, `with_base_llh`, `write`); `run_rnx2rtkp` and `find_rnx2rtkp`;
+  `read_pos` (llh, xyz and enu `.pos` files).
+- **RINEX** (`gnsskit.rinex`): `rinex_span`, `header_llh`, `trim_rinex`; inspection with `obs_summary`
+  (span, sampling, gaps, satellites), `read_visibility` and `plot_visibility` (RTKPLOT-style satellite
+  visibility, needs the `plot` extra).
+- **Static** (`gnsskit.static`): `solve_static` (one solution over a time window), `process_baseline`
+  (static baselines with covariance), baseline IO and `loop_closures` (misclosure of every triangle of baselines); least-squares adjustment of a redundant baseline
+  network in `gnsskit.static.network` (needs the `network` extra).
+- **Kinematic** (`gnsskit.kinematic`): trajectory interpolation and averaging.
+- **Reference systems** (`gnsskit.refsys`): GPST/UTC, ellipsoids, ECEF/geodetic conversions and
+  `ENUFrame`, a local east-north-up frame at a point (points, vectors and covariances, both ways).
+
+## Install
+
+```sh
+pip install gnsskit                  # library
+pip install "gnsskit[network]"       # + network adjustment (scipy, pyproj)
+pip install "gnsskit[network,plot]"  # + satellite visibility plots (matplotlib)
+pip install git+https://github.com/franioli/gnsskit   # development version
+```
+
+`rnx2rtkp` is not installed by pip. Build the [demo5 fork](https://github.com/rtklibexplorer/RTKLIB) and put it on
+your `PATH`; if it is missing, `run_rnx2rtkp` raises an error with instructions. Developed with `rnx2rtkp ver.EX 2.5.1`.
+
+## Example
+
+```python
+from gnsskit import RtkConfig, read_pos, run_rnx2rtkp
+
+config = RtkConfig(posmode="static", navsys="GEC", solformat="llh").with_base_llh(46.2, 9.8, 2300.0)
+pos_file = run_rnx2rtkp(rover_obs, base_obs, [nav], config, "out.pos")
+pos = read_pos(pos_file)
+```
+
+See [example/](https://github.com/franioli/gnsskit/tree/main/example) for complete static, kinematic and network adjustment examples.

gnsskit-0.4.0/README.md

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+# gnsskit
+
+Shared tools for post-processing GNSS data with [RTKLIB](https://www.rtklib.com/) `rnx2rtkp`, used by
+[djippk](https://github.com/franioli/djippk) (drone PPK) and [stopgo](https://github.com/franioli/stopgo)
+(stop-and-go surveys).
+
+- **RTKLIB wrappers** (`gnsskit.rtklib`): `RtkConfig`, a typed, immutable set of `rnx2rtkp` options
+  (`from_file`, `updated`, `with_options`, `with_base_llh`, `write`); `run_rnx2rtkp` and `find_rnx2rtkp`;
+  `read_pos` (llh, xyz and enu `.pos` files).
+- **RINEX** (`gnsskit.rinex`): `rinex_span`, `header_llh`, `trim_rinex`; inspection with `obs_summary`
+  (span, sampling, gaps, satellites), `read_visibility` and `plot_visibility` (RTKPLOT-style satellite
+  visibility, needs the `plot` extra).
+- **Static** (`gnsskit.static`): `solve_static` (one solution over a time window), `process_baseline`
+  (static baselines with covariance), baseline IO and `loop_closures` (misclosure of every triangle of baselines); least-squares adjustment of a redundant baseline
+  network in `gnsskit.static.network` (needs the `network` extra).
+- **Kinematic** (`gnsskit.kinematic`): trajectory interpolation and averaging.
+- **Reference systems** (`gnsskit.refsys`): GPST/UTC, ellipsoids, ECEF/geodetic conversions and
+  `ENUFrame`, a local east-north-up frame at a point (points, vectors and covariances, both ways).
+
+## Install
+
+```sh
+pip install gnsskit                  # library
+pip install "gnsskit[network]"       # + network adjustment (scipy, pyproj)
+pip install "gnsskit[network,plot]"  # + satellite visibility plots (matplotlib)
+pip install git+https://github.com/franioli/gnsskit   # development version
+```
+
+`rnx2rtkp` is not installed by pip. Build the [demo5 fork](https://github.com/rtklibexplorer/RTKLIB) and put it on
+your `PATH`; if it is missing, `run_rnx2rtkp` raises an error with instructions. Developed with `rnx2rtkp ver.EX 2.5.1`.
+
+## Example
+
+```python
+from gnsskit import RtkConfig, read_pos, run_rnx2rtkp
+
+config = RtkConfig(posmode="static", navsys="GEC", solformat="llh").with_base_llh(46.2, 9.8, 2300.0)
+pos_file = run_rnx2rtkp(rover_obs, base_obs, [nav], config, "out.pos")
+pos = read_pos(pos_file)
+```
+
+See [example/](https://github.com/franioli/gnsskit/tree/main/example) for complete static, kinematic and network adjustment examples.

gnsskit-0.4.0/pyproject.toml

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+[project]
+name = "gnsskit"
+version = "0.4.0"
+description = "RTKLIB-based GNSS post-processing toolkit: RINEX tools, RTKLIB wrappers, static baselines and network adjustment, kinematic trajectories"
+readme = "README.md"
+license = "MIT"
+license-files = ["LICENSE"]
+keywords = [
+    "gnss",
+    "gps",
+    "rtklib",
+    "ppk",
+    "surveying",
+    "least-squares",
+]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Science/Research",
+    "Topic :: Scientific/Engineering :: GIS",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Typing :: Typed",
+]
+requires-python = ">=3.10"
+dependencies = [
+    "numpy",
+    "pandas>=2",
+]
+
+[[project.authors]]
+name = "Francesco Ioli"
+email = "francesco.ioli@polimi.it"
+
+[project.optional-dependencies]
+network = [
+    "scipy",
+    "pyproj",
+]
+plot = ["matplotlib"]
+
+[project.urls]
+Repository = "https://github.com/franioli/gnsskit"
+Issues = "https://github.com/franioli/gnsskit/issues"
+
+[dependency-groups]
+dev = [
+    "pytest",
+    "scipy",
+    "pyproj",
+    "matplotlib",
+]
+
+[build-system]
+requires = ["uv_build>=0.12.23,<0.13.0"]
+build-backend = "uv_build"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[tool.ruff]
+line-length = 100

gnsskit-0.4.0/pyproject.toml.orig

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+[project]
+name = "gnsskit"
+version = "0.4.0"
+description = "RTKLIB-based GNSS post-processing toolkit: RINEX tools, RTKLIB wrappers, static baselines and network adjustment, kinematic trajectories"
+readme = "README.md"
+license = "MIT"
+license-files = ["LICENSE"]
+authors = [{ name = "Francesco Ioli", email = "francesco.ioli@polimi.it" }]
+keywords = ["gnss", "gps", "rtklib", "ppk", "surveying", "least-squares"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Science/Research",
+    "Topic :: Scientific/Engineering :: GIS",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Typing :: Typed",
+]
+requires-python = ">=3.10"
+dependencies = ["numpy", "pandas>=2"]
+
+[project.optional-dependencies]
+network = ["scipy", "pyproj"]
+plot = ["matplotlib"]
+
+[project.urls]
+Repository = "https://github.com/franioli/gnsskit"
+Issues = "https://github.com/franioli/gnsskit/issues"
+
+[dependency-groups]
+dev = ["pytest", "scipy", "pyproj", "matplotlib"]
+
+[build-system]
+requires = ["uv_build>=0.12.23,<0.13.0"]
+build-backend = "uv_build"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[tool.ruff]
+line-length = 100

gnsskit-0.4.0/src/gnsskit/__init__.py

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+"""Shared RTKLIB-based GNSS post-processing tools."""
+
+from importlib.metadata import version
+
+from .kinematic import interpolate
+from .refsys import (
+    GPS_EPOCH,
+    GPST_UTC_OFFSET_S,
+    GRS80,
+    WGS84,
+    Ellipsoid,
+    ENUFrame,
+    enu_diff,
+    gpst_to_local,
+    utc_to_gpst,
+)
+from .rinex import (
+    find_rinex_obs,
+    header_llh,
+    obs_summary,
+    plot_visibility,
+    read_visibility,
+    rinex_span,
+    satellite_stats,
+    signal_stats,
+    trim_rinex,
+)
+from .rtklib import (
+    RtkConfig,
+    navsys_mask,
+    read_header,
+    read_pos,
+    read_ref_pos,
+    run_rnx2rtkp,
+)
+from .static import (
+    baselines_to_df,
+    df_to_baselines,
+    loop_closures,
+    process_baseline,
+    solve_static,
+)
+
+__version__ = version("gnsskit")
+__all__ = [
+    "GPST_UTC_OFFSET_S",
+    "GPS_EPOCH",
+    "GRS80",
+    "WGS84",
+    "ENUFrame",
+    "Ellipsoid",
+    "RtkConfig",
+    "baselines_to_df",
+    "df_to_baselines",
+    "enu_diff",
+    "find_rinex_obs",
+    "gpst_to_local",
+    "header_llh",
+    "interpolate",
+    "loop_closures",
+    "navsys_mask",
+    "obs_summary",
+    "plot_visibility",
+    "process_baseline",
+    "read_header",
+    "read_pos",
+    "read_ref_pos",
+    "read_visibility",
+    "rinex_span",
+    "run_rnx2rtkp",
+    "satellite_stats",
+    "signal_stats",
+    "solve_static",
+    "trim_rinex",
+    "utc_to_gpst",
+]

gnsskit-0.4.0/src/gnsskit/kinematic/__init__.py

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+"""Kinematic processing: interpolation and averaging of trajectories from .pos solutions."""
+
+from .trajectory import average, interpolate
+
+__all__ = ["average", "interpolate"]

gnsskit-0.4.0/src/gnsskit/kinematic/trajectory.py

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+"""Sampling a kinematic trajectory (`read_pos` output): at given times or inside windows."""
+
+from __future__ import annotations
+
+import numpy as np
+import pandas as pd
+
+from ..refsys import GPS_EPOCH, enu_diff
+from ..rtklib.pos import POS_COORD_COLS, POS_SD_COLS
+
+
+def interpolate(pos: pd.DataFrame, gps_s: np.ndarray) -> pd.DataFrame:
+    """Linear interpolation of the trajectory at the given times.
+
+    Q is the worse of the two neighbouring epochs, ns the smaller. Times outside the
+    trajectory are not allowed.
+
+    Args:
+        pos: Trajectory from `read_pos`, with at least two epochs.
+        gps_s: Times to interpolate at, seconds since the GPS epoch.
+
+    Returns:
+        DataFrame in the format of `pos`, one row per requested time.
+    """
+    fmt = pos.attrs["format"]
+    t = pos["gps_s"].to_numpy()
+    idx = np.searchsorted(t, gps_s).clip(1, len(pos) - 1)
+    lo, hi = idx - 1, idx
+    q, ratio = pos["Q"].to_numpy(), pos["ratio"].to_numpy()
+    cols = POS_COORD_COLS[fmt] + POS_SD_COLS[fmt]
+    out = pd.DataFrame({c: np.interp(gps_s, t, pos[c]) for c in cols})
+    out["Q"] = np.maximum(q[lo], q[hi])
+    out["ns"] = np.minimum(pos["ns"].to_numpy()[lo], pos["ns"].to_numpy()[hi])
+    out["ratio"] = np.where(q[lo] == 1, ratio[lo], ratio[hi])
+    out["age"] = 0.0
+    out["gps_s"] = gps_s
+    out["t"] = GPS_EPOCH + pd.to_timedelta(gps_s, unit="s")
+    out.attrs["format"] = fmt
+    return out
+
+
+def average(
+    pos: pd.DataFrame, start: pd.Timestamp, end: pd.Timestamp, fix_only: bool = True
+) -> dict[str, float | int | bool]:
+    """Mean position of the llh epochs in [start, end] with the scatter in E, N, U.
+
+    Args:
+        pos: llh trajectory from `read_pos`.
+        start: Window start, GPST.
+        end: Window end, GPST.
+        fix_only: Average the fixed epochs (Q == 1) only.
+
+    Returns:
+        Dict with n_epochs, fix_pct, n_used and, if any epoch is used, fixed, lat, lon, h
+        [deg, deg, m] and sd_e, sd_n, sd_u [m] (sample standard deviations).
+
+    Raises:
+        ValueError: If `pos` is not in llh format.
+    """
+    if pos.attrs.get("format") != "llh":
+        raise ValueError("average needs a llh trajectory (out-solformat=llh)")
+    seg = pos[(pos.t >= start) & (pos.t <= end)]
+    n_all = len(seg)
+    row: dict[str, float | int | bool] = {
+        "n_epochs": n_all,
+        "fix_pct": 100.0 * (seg.Q == 1).sum() / n_all if n_all else 0.0,
+    }
+    if fix_only:
+        seg = seg[seg.Q == 1]
+    row["n_used"] = len(seg)
+    if len(seg):
+        lat, lon, h = seg.lat.mean(), seg.lon.mean(), seg.h.mean()
+        e, n, u = enu_diff(seg.lat, seg.lon, seg.h, lat, lon, h).T
+        ddof = 1 if len(seg) > 1 else 0
+        row |= {
+            "fixed": bool((seg.Q == 1).all()),
+            "lat": lat,
+            "lon": lon,
+            "h": h,
+            "sd_e": e.std(ddof=ddof),
+            "sd_n": n.std(ddof=ddof),
+            "sd_u": u.std(ddof=ddof),
+        }
+    return row

gnsskit-0.4.0/src/gnsskit/ppp/__init__.py

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+"""Precise Point Positioning (PPP) with RTKLIB. Placeholder: nothing is implemented yet.
+
+Planned scope:
+    - single-receiver static and kinematic solutions with rnx2rtkp (`posmode` "ppp-static",
+      "ppp-kine" or "ppp-fixed"), reusing `gnsskit.rtklib` for configuration, running and
+      reading the .pos output;
+    - helpers for the precise products PPP needs: SP3 orbits, CLK clocks, ANTEX antenna
+      models (satellite and receiver), and optionally DCB/OSB biases and ocean loading;
+    - a PPP preset of `RtkConfig` (dual-frequency iono-free, `sateph="precise"`,
+      `tropopt="est-ztd"`).
+
+To do before the first function:
+    - add "ppp-kine", "ppp-static" and "ppp-fixed" to `PosMode` in `gnsskit.rtklib.config`.
+"""
+
+__all__: list[str] = []