MGA Webinar Series : 9Updates on GNSS Raw Data Measurement fromAndroid Device
Dinesh Manandhar
CSIS, The University of Tokyo
16th July 2019
Contact: dinesh@iis.u-Tokyo.ac.jp

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Purpose• Provide updates related with Android GNSS Raw Data
• Results from Raw Data Processing• Tokyo, Japan• Suva, Fiji
• Melbourne, Australia• Florida, USA• Sharing of Raw Data to practice• Please refer MGA Webinar #8 for additional information• https://home.csis.u-tokyo.ac.jp/~dinesh/WEBINAR.htm

Contact: dinesh@iis.u-Tokyo.ac.jp

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Android Device for GNSS Raw Data
• Many Android devices with OS 7.0 or higher can output
GNSS Raw Data
• These data can be used for RTK post-processing• Some devices have Multi-Frequency (L1/L5) GNSS receiver• Multi-System (GPS, GLONASS, GALILEO, BEIDOU, QZSS)• Multi-Frequency (L1/E1/B1, L5/E5)• Outputs more than 40 channels• Some devices output NAV BIT Data and/or AGC values

Contact: dinesh@iis.u-Tokyo.ac.jp

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GNSS Raw Data Compatible Smart-Phones
Raw Data output used in System Score

S. No.

ModelSatellite Systems used in System
Score

System FunctioAccumul
Total
L5Android Score n Score
NAV ated HW
Score AGC
Suppor GPS GLO GAL BDS QZSS SBAS
version Max: 6 Max: 5
MSG delta clock(D + E)
t(D)
(E)
range

431
33

Xiaomi Mi 8
Samsung S8
Huawei P10

8.1
7
7

5
5
5

4
3
3

98
8

no
no
no

yes
yes
yes

yes
yes
yes

yes
yes
yes

yes
no
no

yes
yes
yes

yes
yes
yes

yes
yes
yes

yes
yes
yes

yes
yes
yes

no
nono

42

Huawei Mate 20 X

944

8

no

yes

yes

yes

yes

yes

yes

yes

no

yes

no

19
20
22
12

Google Pixel 2 XL
Google Pixel 2
Samsung Note 8
Pixel 3 XL
Pixel 3

88
7.1
995
54
442233
3

7
7
7
7
7

yes
yes
no
yes
yes

no
no
yes
no
no

no
no
yes
yes
yes

yes
yes
yes
yes
yes

no
no
no
no
no

yes
yes
yes
yes
yes

yes
yes
yes
yes
yes

yes
yes
yes
yes
yes

yes
yes
yes
yes
yes

yes
yes
no
no
no

no
no
no
no
no

43

Huawei Mate 20 RS

94

3

7

no

no

yes

yes

yes

yes

yes

yes

yes

nono

44

Huawei Mate 20 Pro

94

3

7

nono

yes

yes

yes

yes

yes

yesyes

nono

45
10

Huawei Mate 20
Huawei P20

98.1

433
3

7
6no
no

no
yes

yes
yes

yes
yes

yes
no

yes
yes

yes
yes

yes
no

yes
no

no
yes

no
no

11

Samsung Galaxy S983

3

6

no

yes

yes

yes

no

yes

yes

no

no

yes

no

18

Huawei Mate 10 Pro

83

3

6

no

yes

yes

yes

no

yes

yes

nono

yes

no

Contact: dinesh@iis.u-Tokyo.ac.jp

Check  https://developer.android.com/guide/topics/sensors/gnss for Latest Updates

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Android Raw Data Logging Tool – 1: GnssLogger

Contact: dinesh@iis.u-Tokyo.ac.jpSlide : 5

GNSS Raw Data Output Format from Smart Phone Device• #• # Header Description:• # Version: v2.0.0.1 Platform: 9 Manufacturer: Xiaomi Model: MI 8
• # Raw,• ElapsedRealtimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,• BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,• HardwareClockDiscontinuityCount,Svid,TimeOffsetNanos,State,ReceivedSvTimeNanos,• ReceivedSvTimeUncertaintyNanos,Cn0DbHz,PseudorangeRateMetersPerSecond,• PseudorangeRateUncertaintyMetersPerSecond,AccumulatedDeltaRangeState,• AccumulatedDeltaRangeMeters,AccumulatedDeltaRangeUncertaintyMeters,CarrierFrequencyHz,• CarrierCycles,CarrierPhase,CarrierPhaseUncertainty,MultipathIndicator,• SnrInDb,ConstellationType,AgcDb,CarrierFrequencyHz• # Fix,• Provider,Latitude,Longitude,Altitude,Speed,Accuracy,(UTC)TimeInMs• # Nav,• Svid,Type,Status,MessageId,Sub-messageId,Data(Bytes)
Contact: dinesh@iis.u-Tokyo.ac.jp

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Sample GNSS Raw Data Output

Contact: dinesh@iis.u-Tokyo.ac.jp

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GNSS Raw Data Analysis Tool for GnssLogger• GNSS Analysis APP• Matlab-based Tool
• Linux, Windows, MacOS• Version 2.6.3.0• Release Notes:
https://developer.android.com/guide/topics/sensors/g
nss#releaseGNSS Analysis app v2.6.3.0 release notes.

Click for KML FileClick for Report File

The GNSS Analysis app is built on MATLAB, but you don't need to have MATLAB to run
it. The app is compiled into an executable that installs a copy of the MATLAB Runtime.

Contact: dinesh@iis.u-Tokyo.ac.jp

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Position Output from Android GNSS Receiver, Komaba• Standard Position Computation• No DGPS or RTK Corrections• All visible GNSS Satellites are used
• Frequency : L1/L5/E5• Surrounding : Tall Buildings aroundContact: dinesh@iis.u-Tokyo.ac.jp

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Position Output from Android GNSS Receiver, Hongo

Smart-Phone is kept under the Tree
Red Circle Radius : 5m
Contact: dinesh@iis.u-Tokyo.ac.jp

Smart-Phone is kept under the Tree
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Position Output from Android GNSS Receiver
Smart-Phone is kept in an Open Area
Red Circle Radius: 5m

Contact: dinesh@iis.u-Tokyo.ac.jp

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Position Output from Android GNSS Receiver, Melbourne

Smart-Phone is kept on a Bench in the park
Red Circle Radius: 5m
SEE Next SLIDEContact: dinesh@iis.u-Tokyo.ac.jp

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Smart-Phone is kept on a Bench in the park
Red Circle Radius: 5m
Contact: dinesh@iis.u-Tokyo.ac.jp

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Output from GNSS Analysis Tool, Data Logged by GNSSLogger

Data logged by Mi8 Smart-phone inside the car

Contact: dinesh@iis.u-Tokyo.ac.jp

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Output from GNSS Analysis Tool, Data Logged by GNSSLogger
Location:Kennedy Space CenterFlorida

Data logged by Mi8 Smart-phone inside the car
Driving from Hotel to Kennedy Space Center

Contact: dinesh@iis.u-Tokyo.ac.jp

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Output from GNSS Analysis Tool, Data Logged by GNSSLogger

Kennedy Space Center

Data logged by Mi8 Smart-phone inside the car
Driving from Hotel to Kennedy Space Center
Contact: dinesh@iis.u-Tokyo.ac.jp

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GNSS Position Data from Mi8 Android Device
Yellow Circles : Mi8 Device
White Circle : 5m Radius

Location: SUVA, FIJI

Contact: dinesh@iis.u-Tokyo.ac.jp

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GNSS Position Data from P20 Android Device
Red Circles : P20 Device
White Circle : 5m RadiusLocation: SUVA, FIJI

Contact: dinesh@iis.u-Tokyo.ac.jp

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GNSS Position Data from Mi8 & P20 Android Devices
Red Circles : P20 Device
Yellow Circles : Mi8 Device
White Circle : 5m Radius

Location: SUVA, FIJI

Contact: dinesh@iis.u-Tokyo.ac.jp

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Position Output from Android
GNSS Receiver
海洋大学 (TUMSAT)

Base 253013400

Base 152453400• Mobile-phone is kept static for about 60min thenmoved around the roof.
• A GNSS base-station (Trimble NetR9) on the roof isused to collect correction data.

These data were logged at TUMST, Dr. Yize

Contact: dinesh@iis.u-Tokyo.ac.jp

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Android GNSS Raw Data Information

1Base-Station File 1

53013400.18o

Trimble NetR92Base-Station File 252453400.18o

Trimble NetR93

Android GNSS Data GEOP3400

4RINEX NAV File

Device Mi8Logger: Geop++

brdm3400.18p

Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS L1/L5

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + QZS L1

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + QZS L1/L5

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + QZS + BDS L1

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + BDS + QZS L1/L5

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + GAL+ BDS + QZS L1

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + GAL+ BDS + QZS L1/L2/L5

Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + GLO + GAL+ BDS + QZS L1

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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GPS L1 vs GPS + GAL+ BDS + QZS L1/L5

Data logged by Mi8 Smart-phone
Contact: dinesh@iis.u-Tokyo.ac.jp

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(Possible) Applications of Android GNSS Raw Data
• High-Accuracy Positioning• Multi-System, Multi-Frequency• Interference and Jamming Detection• Crowd Sourcing• Spoofing Detection• Signal Authentication• Atmospheric Parameter Estimations• Ionosphere and Troposphere• Space Weather• Scientific Applications
Contact: dinesh@iis.u-Tokyo.ac.jp

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White Paper on GNSS Raw Data Measurement

http://galileognss.eu/wpcontent/uploads/2018/05/Using-GNSSRaw-Measurements-on-Androiddevices.pdf

Contact: dinesh@iis.u-Tokyo.ac.jp

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GNSS Raw Measurements
Taskforce Workshop
GNSS Raw Measurements Taskforce Workshop was held on
26th June 2019, Prague, GSA European Agency Headquarters
Refer https://www.gsa.europa.eu/gnss-raw-measurements-taskforce-workshop for more information

Contact: dinesh@iis.u-Tokyo.ac.jp

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References• GNSS Raw Data Measurement Tutorial File by Dr, Frank Van Diggelen, GoogleInc.

• https://home.csis.utokyo.ac.jp/~dinesh/GNSS_Raw_files/GNSS%20102%20Measurements%20from%20
Phones%20Short%20Course%20Slides.pdf• GPS Receiver Signal Processing background information file:• https://home.csis.utokyo.ac.jp/~dinesh/WEBINAR_files/MGA_W08_RawDataMeasurement_Background.pdf• Video record of GNSS Raw Signal Measurement MGA WEBINAR held on 6th
DEC 2018.
• https://www.youtube.com/watch?v=S217xg--O_Q&feature=youtu.be• Sample Data

• Sample GNSS Raw Data from Android Device• https://home.csis.u-tokyo.ac.jp/~dinesh/WEBINAR.htm
Contact: dinesh@iis.u-Tokyo.ac.jp

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