Localization and Fault Detection Baselines From an Open-Source Python GNSS Library

This paper describes how gnss_lib_py, a modular, open-source Python tool — for parsing, analyzing, and visualizing Global Navigation Satellite Systems (GNSS) data — can be used to implement new GNSS localization and fault detection algorithms and compare their performance with existing baselines. We describe new and improved parsing and analysis capabilities added to gnss_lib_py over the past year. We also provide details of the components that can be used to run the algorithmic baselines on real-world measurements. All code referenced in the paper is fully open-source and is hosted on GitHub: github.com/stanfordnavlab/gnss_lib_py.