GNSSAndroid Raw Data Processing
Dinesh ManandharCenter for Spatial Information ScienceThe University of Tokyo
Contact Information: dinesh@csis.u-tokyo.ac.jp

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 1

Android Device for GNSS Raw Data
• Many Android devices with OS 7.0 or higher can output GNSS RawData• 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

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 2GNSS Raw Data Compatible Smart-Phones
Raw Data output used in System Score

S. No.

Model

Satellite Systems used in System
Score

System Functio
AccumulTotal
L5
Android Score n Score
NAV ated HW
Score AGC
Suppor GPS GLO GAL BDS QZSS SBAS
version Max: 6 Max: 5MSG delta clock(D + E)
t(D)
(E)
range

43133

Xiaomi Mi 8Samsung S8Huawei P108.177555433988nono
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
no
no

42

Huawei Mate 20 X

94

4

8

no

yes

yes

yes

yes

yes

yes

yes

no

yes

no

19
20
22
1
2

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

8
8
7.1
9
9

5
5
4
4
4

2
2
3
3
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

no

no

44

Huawei Mate 20 Pro

94

3

7

no

no

yes

yes

yes

yes

yes

yes

yes

no

no

45
10

Huawei Mate 20
Huawei P20

98.1

4
3

3
3

7
6

no
no

no
yes

yes
yes

yes
yes

yes
no

yes
yes

yes
yes

yes
no

yes
no

no
yes

no
no

11

Samsung Galaxy S9

83

3

6

no

yes

yes

yes

no

yes

yes

nono

yes

no18

Huawei Mate 10 Pro

8336no

yes

yes

yesno

yes

yesnonoyesno

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp for Latest Updates
Check  https://developer.android.com/guide/topics/sensors/gnss

Slide : 3

Android Raw Data Logging Tool – 1: GnssLogger

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 4

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)

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 5

Sample GNSS Raw Data Output

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 6

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/
gnss#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.
Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 7

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
aroundDinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 8

Position Output from Android GNSS Receiver, Hongo

Smart-Phone is kept under the Tree
Red Circle Radius : 5m

Smart-Phone is kept under the TreeDinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 9

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

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 10

Position Output from Android GNSS Receiver, Melbourne

Smart-Phone is kept on a Bench in the park
Red Circle Radius: 5m
SEE Next SLIDE
Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 11

Smart-Phone is kept on a Bench in the park
Red Circle Radius: 5m
Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 12

Output from GNSS Analysis Tool, Data Logged by GNSSLogger

Data logged by Mi8 Smart-phone inside the car

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 13

Output from GNSS Analysis Tool, Data Logged by GNSSLogger
Location:
Kennedy Space Center
FloridaData logged by Mi8 Smart-phone inside the car
Driving from Hotel to Kennedy Space Center

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 14

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
Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 15

GNSS Position Data from Mi8 Android Device

Yellow Circles : Mi8 Device
White Circle : 5m RadiusLocation: SUVA, FIJI

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 16

GNSS Position Data from P20 Android Device

Red Circles : P20 Device
White Circle : 5m Radius

Location: SUVA, FIJI

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 17

GNSS Position Data from Mi8 & P20 Android Devices

Red Circles : P20 Device
Yellow Circles : Mi8 Device
White Circle : 5m Radius

Location: SUVA, FIJI

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 18

Xiaomi Mi11 Lite 5G Screen Shots

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 19

Xiaomi Mi11 Lite 5G Screen Shots

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 20

Sample GNSS Raw Data from Mi11 Lite 5G
Sample GNSS raw data can be downloaded from the following website:
https://home.csis.u-tokyo.ac.jp/~dinesh/GNSS_Train.htm
Data were taken at the same time by using 4 or 5 different types of devices.
This will help to compare accuracy from different devices as well.

Smart-Phone DataXiaomi Mi8 (a)Xiaomi Mi8 (b)Xiaomi Mi8 (c)Xiaomi Mi11 Lite 5G

OppoReno 3
ADay 1

Data 01

Data 02

Data 03

Data 08
Data 09

Data 10

Day 2

Data 04

Data 05
Data 06

Data 07

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 21

(Possible) Applications of Android GNSS Raw Data
• High-Accuracy Positioning• Multi-System, Multi-Frequency• Interference and Jamming Detection• Crowd Sourcing• Spoofing Detection and Signal Authentication• Atmospheric Parameter Estimations• Ionosphere and Troposphere• Space Weather• Scientific Applications

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

Slide : 22

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

• https://home.csis.utokyo.ac.jp/~dinesh/GNSS_Raw_files/GNSS%20102%20Measurements%20from%20Phones%20Short%20Course%20Slides.pdf• GPS Receiver Signal Processing background information file:• https://home.csis.utokyo.ac.jp/~dinesh/WEBINAR_files/MGA_W08_RawDataMeasurement_Backgrou
nd.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

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp

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