Satellite infoĪstrodog has a get_sat_info function that will provide an accurate position, velocity and clock error for any satellite at any time in history. Which in this case is fetch and process all the necessary data to transform raw GNSS observables into usable distance measurements and satellite positions ready for position estimation. It is a python object, and like the soviet space dogs to which it owes its name, an astrodog will do everything to make the life of its owner easier. AstrodogĪstrodog is the main component of the laika. This is what we call processing of the GNSS observables and it is this procedure laika is designed to make easy. Getting accurate distance estimates to satellites and the satellite's position from the receiver observations is not trivial. However, the above description is over-simplified. This is far from optimal due to the dynamic nature of the system, this makes a Bayesian estimator like a Kalman filter the preferred estimator. Laika provides a basic weighted least squares solver for experimental purposes. Since this problem is generally overdetermined (more than 4 satellites to solve the 4d problem) there is a variety of methods to compute a position estimate from the measurements. This offset also needs to be determined, making it a 4-dimensional trilateration problem. In practice observed distances to each satellite will be measured with some offset that is caused by the receiver's clock error. This makes determining the receiver's position a basic 3-dimensional trilateration problem. These satellites have known orbits and so their positions are known. GNSS satellites orbit the earth broadcasting signals that allow the receiver to determine the distance to each satellite. Laika is the perfect tool to develop accurate GNSS-only or GNSS-fusion localisation algorithms. Laika is designed to produce accurate results whilst still being readable and easy to use. Laika can process raw GNSS observations with data gathered online from various analysis groups to produce data ready for position/velocity estimation. Laika is similar to projects like RTKlib and GPSTK, but in Python and with a strong focus on readability, usability and easy integration with other optimizers. Laika is an open-source GNSS processing library.
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