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The Android Framework provides access to raw GNSS measurementson several Android devices.

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This article lists Android devices that support raw GNSS measurements aswell as tools to log and analyze GNSS data. You can find the tools inthe GPS Measurement Toolsrepo on GitHub, which includes the GNSS LoggerAPK andthe GNSS Analysis app forLinux,Windows,macOS,and the Installation and User Manual.

Original equipment manufacturers (OEMs), developers, and researchers can make use of the tools in this page to test new phone designs, validate functionality, develop new algorithms, evaluate improvements to the GNSS system implementation as well as building value added apps.

Android devices that support raw GNSS measurements

Before you can get any raw GNSS output, you need to make sure that youhave a device that can capture such data. Most devices manufactured in 2016 orlater and shipped with Android 7.0 or higher provide raw GNSS data.

Depending on the device, raw GNSS measurements can include all or some of thefollowing data:

• Pseudorange and pseudorange rate.
• Navigation messages.
• Accumulated delta range or carrier.
• Hardware (HW) clock.

The table below lists devices that support raw GNSS measurements and the datathey provide. This isn't a comprehensive list, you should contact themanufacturer to make sure that a specific device supports raw GNSS measurements.

¹Exynos, EMEA devices, Models: G960F or G965F
²Exynos, EMEA devices, Models: G950F or G955F
³QCOM, USA devices, Models: G950U or G955U
⁴ Raw measurements are provided only when a GPS position is available.
⁵ No duty cycling. Works only on the non cellular version of Nexus 9.

For more information about the data provided by a device, see Global NavigationSatellite Systems.

Logging raw measurements

You can use Android Studio to build an app that captures raw GNSS measurementsand logs them to a file. The GPS MeasurementTools project includesGNSS Logger, a sample app that shows how to log data related to Androidlocation, including raw GNSS measurements.

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Download the GNSS LoggerAPK to install thesample app in your device.

To get GNSS output with the sample app, your device must support raw GNSSmeasurements. For more information, see Android devices that support rawGNSS measurements.

Once you have captured the GNSS log using the GNSS Logger, you can copy the logfiles from the device to your computer for further analysis. From within theGNSS Logger you can send the files to yourself via email or save them to GoogleDrive. Alternatively, you can save the files using the file management app onthe device, or you can use the Android Debug Bridge (ADB) as explained inCopy files to/from a device.

To browse the sample source code, see theGNSSLoggerfolder in the GPS MeasurementTools repository on GitHub.

Analyzing raw measurements

The GNSS Analysis app reads the GPS/GNSS raw measurements collected by the GNSSLogger and uses them to analyze the GNSS receiver behavior, as shown in figure1.

You can download the app forLinux,WindowsandmacOS,systems, or download the Installation and UserManual.

Figure 1. GNSS Logger collects the measurements that can be consumed by GNSSAnalysis.

The GNSS Analysis app is built onMATLAB, but you don't needto have MATLAB to run it. The app is compiled into an executable that installs acopy of the MATLAB Runtime.

GNSS Analysis Control Panel

The GNSS Analysis control panel, shown in figure 2, lets you manage appfeatures, such as:

• Select which satellites are displayed.
• Control the reference position, velocity, and time (PVT) used for calculatingmeasurement errors.
• Generate analysis reports.
• Define a window in the data between start and end times.

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Figure 2. GNSS Analysis control panel

GNSS Analysis interactive plots

The GNSS Analysis app provides interactive plots organized in radio frequency(RF), clocks, and measurements columns, as shown in figure 3.

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Figure 3. GNSS Analysis app displaying interactive plots. Backuptrans iphone sms transfer.

The RF column shows the following data:

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• For each constellation, the four satellites with the strongest signals.
• For each satellite, the time plot of carrier to noise density (C/No).
• The skyplot of satellite positions.

The clock column shows the following data:

• The pseudoranges.

• The offset frequency of the receiver clock, which is computed using one of thefollowing reference positions:

  • Automatically computed mean position.
  • Latitude, longitude, and altitude entered by the user.
  • National Marine Electronics Association (NMEA) file with truth referencePVT.

  Note: One of the major benefits of using raw measurements is that you canobserve the receiver clock behavior with a precision of at least 1 partper billion (ppb). This is important to watch when building a device,because any heat source near the reference oscillator might cause theclock error rate to increase rapidly.

• The offset of the standby clock that keeps time when the receiver resets theduty cycle of the primary oscillator.

The measurements column shows the following data:

• The weighted least squares position results obtained from the rawpseudoranges. The weighting is done using the reported uncertainty of eachmeasurement, which is part of the raw measurement API spec.
• The errors of each pseudorange for each measurement.

• The errors of each pseudorange rate for each measurement.

  Note: A major benefit of raw measurements is that you can analyze theerrors of each measurement, which provides great insight into the signalenvironment and receiver behavior.

GNSS Analysis test report

GNSS Analysis can generate a test report, as shown in figure 4, that evaluatesthe API implementation, received signal, clock behavior, and measurementaccuracy. For each case, the app reports whether the receiver passed or failedthe test based on the performance measured against known benchmarks. The testreport is useful for device manufacturers, who can use it as they iteratethrough the design and implementation of new devices. To generate the testreport, click Make Report.

Figure 4. GNSS Analysis test report

The Compare tab provides a side-by-side comparison, shown in figure 5, ofC/No from several GNSS log files, which is useful when comparing the RFperformance of several devices.

Figure 5. Side-by-side comparison of C/No data from several log files

Interested in the source code? The GPS MeasurementTool Project provides an opensource MATLAB example that youcan use to perform the following actions using GPS constellation signals:

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• Read data captured with the GNSS Logger sample app.
• Compute and visualize pseudoranges.
• Compute weighted least squares position and velocity.
• View and analyze carrier phase.

GNSS Analysis app v2.6.3.0 release notes

GNSS Analysis app version 2.6.3.0 includes the following updates:

• Full Support of multi-constellation and multi-frequency GnssLog analysis, including L1-L5 analysis, and report enhancement with PASS/FAIL results.
• Fill missing discontinuity counter increments from the GNSS chipset in the case where ReceivedSvTimeNanos is adjusted without reporting an increment. A warning is generated to report this issue to the end user.
• Added PASS/FAIL/WARNING logs to the Gnss Analysis Report related to mandatory and highly recommeneded raw GNSS fields.
• Epochs with Full Bias not set or set to max integer are no longer considered for analysis.
• GLONASS satellites reported in part of the log with FSN IDs and other part as OSN IDs are now merged.
• Optimized for execution speed and stability.

Provide feedback

We want to improve the support for GNSS on Android. Let us know about any issueswith GNSS support on Android by using the GNSS issuetracker. Please check if your issue has already been addressed in the FAQ before posting it.

If you have used the GNSS Analysis tools, please provide feedback by answering ashort survey. If you have otherquestions or a request for support, see Developer SupportResources.

You can find answers to frequently asked questions in the GNSS Analysis ToolsFAQs.