Precision positioning and navigation software from the Wuhan University GREAT Group.
GREAT-PVT is a C++ command-line module of the GREAT (GNSS+ Research, Application, and Teaching) platform. It provides PPP and RTK positioning solutions for scientific, engineering, and teaching use in geodesy and navigation.
- Multi-GNSS processing for GPS, GLONASS, Galileo, and BDS-2/3.
- Ionosphere-free and uncombined PPP observation models.
- Multi-frequency, multi-system PPP float and fixed solutions.
- Dual-frequency and mixed-frequency RTK solutions.
- Batch-processing and plotting utilities for multi-day result analysis.
- Prebuilt command-line binaries for Windows and Linux.
Use the prebuilt executable if you only want to run GREAT-PVT.
GREAT_PVT.exe -x GREAT_PPP.xmlchmod +x GREAT_PVT
GREAT_PVT -x GREAT_PPP.xmlThe XML files in doc/ are templates. Update their input and output paths to
match the extracted files from sample_data/ or your own GNSS products before
running.
Requirements:
- CMake 3.5+
- A C++ compiler with C++11 support
- Windows, Linux, or macOS
Build on Linux/macOS:
cmake -S src -B src/build -DCMAKE_BUILD_TYPE=Release
cmake --build src/build --config ReleaseBuild on Windows with Visual Studio and CMake GUI:
- Open CMake GUI.
- Set
Where is the source codeto the repositorysrcdirectory. - Set
Where to build the binariestosrc/build. - Click
Configure, then select your installed Visual Studio generator. - Click
Generate. - Click
Open Project, then build theReleaseconfiguration in Visual Studio.
Build outputs are written under CMake-generated platform directories such as
src/build_Linux or src/build_Windows.
GREAT_PVT -x <config.xml>
Useful options:
-h, --help Show command-line help
-x file Read XML configuration
bin/ Prebuilt Windows and Linux executables/libraries
doc/ Manuals and sample XML configurations
sample_data/ PPP and RTK sample datasets
src/ C++ source code
app/GREAT_PVT/ Command-line application
LibGREAT/ PPP, PPP-AR, and RTK processing library
LibGnut/ G-Nut-based GNSS data and utility library
third-party/ Vendored third-party headers/libraries
util/ Batch processing, plotting, and EOP utilities
The repository includes compressed examples:
sample_data/PPPFLT_2023305.zipfor PPPsample_data/RTKFLT_2020351.zipfor RTK
Extract a sample dataset, then adjust doc/GREAT_PPP.xml or
doc/GREAT_RTK.xml so the paths under <inputs> point to the extracted files.
Detailed installation, configuration, input products, and output formats are covered in:
doc/GREAT-PVT_1.0.pdfdoc/GREAT-PVT_manual_1.0.pdf
- The SOFA software is employed for the rotation from the inertial frame to the Earth-fixed frame, with current tests indicating comparable accuracy. By eliminating substantial redundant computations during the rotation process, the PPP positioning efficiency for a single station (intv=30s) has been improved by 10% or more, as confirmed by the test results.
- A bug is fixed for great_log.cpp
- Fixed an error in the GLONASS satellite attitude calculation (function t_gattitude_model::_noon_turn_GLOM). Consequently, when GLONASS satellites are included in the positioning solution, the results from version 1.3 may be inconsistent with those from earlier versions.
- More smart spdlog, spdlog version update to spdlog-1.17.0.
- Added English documentation and improved related content.
- Updated sample data.
- Fixed code formatting issues.
- Fixed a Visual Studio Debug-mode crash on Windows.
- Fixed exceptions caused by missing PCO/PCV correction information in ATX. antenna files.
- Corrected description errors in
GREAT-PVT_1.0.pdf. - Fixed code formatting issues.
GREAT-PVT is developed by the GNSS+ Research, Application and Teaching (GREAT) Group, School of Geodesy and Geomatics, Wuhan University.
Third-party components include:
- G-Nut Library
- pugixml
- Newmat
- spdlog
- Eigen
- FAST
- [SOFA](Standards of Fundamental Astronomy - SOFA Library Issue 2023-10-11 for ANSI C — SOFA)
This project is licensed under the GNU General Public License v3.0.
GREAT (GNSS+ REsearch, Application and Teaching) 软件由武汉大学测绘学院设计开发，是一个用于空间大地测量数据处理、精密定位和定轨以及多源融合导航的综合性软件平台。
GREAT-PVT是GREAT软件中的一个重要模块，主要用于精密定位解算。软件中，核心计算模块使用C++语言(C++17)编写，辅助脚本模块使用Python3和C-Shell语言实现自动化数据处理。GREAT-PVT软件使用CMAKE工具进行编译管理，用户可以灵活选择GCC、Clang、MSVC等主流C++编译器。目前软件提供了Windows和Linux平台的命令行应用程序。
GREAT-PVT由2个可移植程序库组成，分别是LibGREAT和LibGnut。LibGREAT库主要用于PPP、RTK滤波解算，包括滤波估计中涉及的数据解码、存储以及PPP、PPP-AR、RTK算法的实现，LibGnut库来源于开源GNSS软件G-nut，包括GNSS数据的解码和存储以及基本参数配置模块。
GREAT-PVT软件主要特点包括：
-
支持GPS、GLONASS、Galileo、BDS-2/3系统
-
支持无电离层组合、非差非组合PPP观测值组合方式
-
支持多频率多系统PPP浮点解与固定解
-
支持双频、混合频率RTK解算
此外，软件包还提供批处理脚本和定位结果绘图脚本，便于用户对多天数据进行解算与结果分析。
GREAT-PVT_<ver>
./bin Windows和Linux可执行程序 *
./src 源代码 *
./app GREAT-PVT主程序 *
./LibGREAT PPP、PPP-AR、RTK解算库 *
./LibGnut Gnut库 *
./third-party 第三方库 *
./sample_data 算例数据 *
./PPPFLT_2023305 PPP算例 *
./RTKFLT_2020351 RTK算例 *
./util 脚本工具 *
./batch_process PPP批处理脚本 *
./plot 画图脚本 *
./poleut1 地球定向参数生成程序 *
./doc 文档 *
GREAT_PPP.xml PPP配置文件模板 *
GREAT_RTK.xml RTK配置文件模板 *
GREAT-PVT_<ver>.pdf GREAT-PVT用户指南 *参见GREAT-PVT_1.0.pdf
- 修复了Windows平台中VS软件Debug模式下程序运行崩溃的问题。
- 修复了ATX天线文件中PCO、PCV改正数信息缺失导致的程序运行异常。
- 修改了GREAT-PVT_1.0.pdf中的描述错误。
- 其他代码格式问题的修改。
- 增加英文版说明文档并完善相关内容。
- 更新了算例。
- 其他代码格式问题的修改。
开发人员：
武汉大学GREAT团队, Wuhan University.
三方库：
-
GREAT-PVT使用G-Nut库(http://www.pecny.cz) Copyright (C) 2011-2016 GOP - Geodetic Observatory Pecny, RIGTC.
-
GREAT-PVT使用pugixml库(http://pugixml.org) Copyright (C) 2006-2014 Arseny Kapoulkine.
-
GREAT-PVT使用Newmat库(http://www.robertnz.net/nm_intro.htm) Copyright (C) 2008: R B Davies.
-
GREAT-PVT使用spdlog库(https://github.com/gabime/spdlog) Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
-
GREAT-PVT使用Eigen库(https://eigen.tuxfamily.org) Copyright (C) 2008-2011 Gael Guennebaud
-
脚本工具使用部分FAST源码(https://github.com/ChangChuntao/FAST) Copyright (C) The GNSS Center, Wuhan University & Chinese Academy of Surveying and mapping.
GitHub：https://github.com/GREAT-WHU/GREAT-PVT
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