CSSRlib: Python Toolkit for High-Accuracy, Secure, and Resilient Positioning Services
Rui Hirokawa, André Hauschild · Proceedings of the Satellite Division's International Technical Meeting (Online)/Proceedings of the Satellite Division's International Technical Meeting (CD-ROM) · 2025
Satellite-based open, high-precision positioning services are now available in applications such as automated driving assistance systems (ADAS), agriculture, and drones. For these applications, not only positioning accuracy, but also security and integrity considerations must be taken into account. To help understand the capabilities of different PPP services like QZSS CLAS, MADOCA-PPP, Galileo HAS, and BeiDou-3 PPP and explore potential interoperability between them, the authors have created the CSSRlib Python toolkit. It provides PPP/PPP-RTK positioning modules supporting various open satellite-based PPP/PPPRTK corrections streams and IGS products. It also provides a tutorial for PPP/PPP-RTK positioning as a Jupyter notebook. In this paper, CSSRlib was extended to support authentication services such as Galileo OSNMA and QZSS QZNMA. The integrity information based on the RTCM SC-134 draft standard is also experimentally supported for the interoperability test. The other open PPP services, such as PPP through SouthPAN and JPL GDGPS, are also supported. The PPP solver has been improved for better accuracy and convergence. Real-world observation data can be analyzed by different algorithms and PPP/PPP-RTK corrections, allowing a direct comparison of the different service capabilities and performances.