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*** Maximum number of real-time channels demonstrated: > 100
*** Output formats: [[RINEX]], [[KML]], [[GPS Exchange Format|GPX]], [[GeoJSON]], [[NMEA_0183|NMEA]], [[RTCM]], intermediate results stored in binary .mat files readable from [[MATLAB]] and [[GNU_Octave|Octave]], and from [[Python_(programming_language)|Python]] via h5py.
* '''GRID''', Generalized Radionavigation Interfusion Device
**''General information:''
***[[Software licence]]: Commercial
***Publication: [https://radionavlab.ae.utexas.edu/wp-content/uploads/2022/10/Nichols_ION_GNSS_2022.pdf Software-Defined GNSS is Ready for Launch]
***Contact: [https://radionavlab.ae.utexas.edu/contact/ Radionavigation Laboratory]
** ''Development:''
*** Programming language: C++
*** Platforms: Linux, Windows, MacOS
*** User interface (none, [[Command-line interface|CLI]], [[GUI]]): CLI.
*** Number of developers: 15 (along the project)
*** Under active development (as-of date): yes (2023-Apr-28)
*** Creator/sponsor organization: University of Texas at Austin
*** Latest release (version and date): 2022 annual release
*** First release (version and date): 2008-Jul-01
** ''Hardware support:''
*** Front-ends: Several and, practically speaking, any.
*** Host computer special hardware supported: Intel SIMD (SSE2 through AVX-512), ARM NEON (64-bit and 128-bit)
*** Multicore supported?: Yes
** ''GNSS/SBAS signals support:''
*** [[GPS]]: L1CA, L2C, L5
*** [[Galileo (satellite navigation)|Galileo]]: E1b, E1c, E5a
*** [[QZSS]]: L1CA
*** [[SBAS]]: WAAS L1
** ''Features:''
*** Acquisition: yes (several algorithms)
*** Tracking: yes (several algorithms)
*** Generating pseudo-range observable: yes
*** Generating carrier-phase observable: yes
*** Decoding navigation data: yes
*** Position estimation: yes
*** Multiple antennas: yes
*** Real-time Kinematic: yes, GRID can function as an RTK-base station or rover with integrated network support, RTK estimation when integrated with PpEngine (available through separate license)
*** Differential corrections: yes, CNAV and SBAS
*** Maximum number of real-time channels: Hardware-dependent, 30 on a Raspberry Pi 1, >100 on most desktop computers.
*** Output formats: [[RINEX]], [[KML]], [[MATLAB]] .mat files, CSV, proprietary GBX (GRID binary exchange) format.
*** Current applications: experimental FOTON receiver, several GNSS-RO commercial applications, commercial LEO satellite on-board navigation, RTK-based rocket navigation (launch-to-orbit), RTK-based vehicle navigation in urban environments, RTK-based drone, several fixed reference stations, signal abnormality monitoring
== References ==
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