 
GPS Toolbox List of modules
and programs
There are additional modules and programs in GPS Toolbox version 5. For
a complete list please request a demo copy.
To go to one of the below section
click the desired link.
(1) GPS related
constants and conversion factors
convcon 
most used conversion constants 
gpscon 
most used GPS constants 
pz90con 
most used PZ90 constants 
sgs85con 
most used SGS85 constants 
wgs72con 
most used WGS72 constants 
wgs84con 
most used WGS84 constants 
xcon 
main program displaying constants specified in macros convcon, gpscon,
pz90con, sgs85con, wgs72con, and wgs84con 
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(2) Angle transformations
tadmsrad 
degrees/minutes/seconds to radians 
taraddms 
radians to degrees/minutes/seconds 
xatransf 
main program executing angle transformations from/to degrees/minutes/seconds
to/from radians (by selection) 
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(3) Coordinate transformations  Point
transformation
tecefgd 
ECEF to geodetic coordinates (direct method) 
tecefgd2 
ECEF to geodetic coordinates (iterative method) 
tgdecef 
geodetic to ECEF coordinates 
xecef2gd_comp 
main program executing comparison between two ECEF to geodetic
transformation methods 
xptransf 
main program executing transformations from/to ECEF/geodetic to/from
geodetic/ECEF coordinates 
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(4) Coordinate transformations  Matrix
transformation
mbllw 
GPS body to LLW (Local Level Wander azimuth) 
mecefeci 
ECEF (Earth Centered Earth Fixed) to ECI (Earth Centered Inertial) 
mecefenu 
ECEF (Earth Centered Earth Fixed) to ENU (East, North, Up) 
mecefins 
ECEF (Earth Centered Earth Fixed) to INS (Wander/ North, West, Up) 
mecefllw 
ECEF (Earth Centered Earth Fixed) to (Local Level Wander azimuth) 
meciecef 
ECI (Earth Centered Inertial) to ECEF (Earth Centered Earth Fixed) 
menuecef 
ENU (East, North, Up) to ECEF (Earth Centered Earth Fixed) 
menullw 
ENU (East, North, Up) to LLW (Local Level Wander azimuth) 
minsecef 
INS (Wander / North, West, Up) to ECEF (Earth Centered Earth Fixed) 
mllwb 
LLW (Local Level Wander azimuth) to GPS body 
mllwecef 
LLW (Local Level Wander azimuth) to ECEF (Earth Centered Earth Fixed) 
mllwenu 
LLW (Local Level Wander azimuth) to ENU (East North Up) 
xmtransf 
main program generating matrix transformations specified in the above
mentioned list (by selection) 
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(5) Coordinate transformations
 Vector transformation
vbllw 
GPS body to LLW (Local Level Wander Azimuth) 
vecefeci 
ECEF (Earth Centered Earth Fixed) to ECI (Earth Centered Inertial) 
vecefenu 
ECEF (Earth Centered Earth Fixed) to ENU (East, North, Up) 
vecefgd 
ECEF (Earth Centered Earth Fixed) to Geodetic (latitude, longitude,
altitude) for a given position vector and a reference point 
vecefins 
ECEF (Earth Centered Earth Fixed) to INS (Wander / North, West, Up) 
vecefllw 
ECEF (Earth Centered Earth Fixed) to LLW (Local Level Wander azimuth) 
vecefp90 
ECEF (Earth Centered Earth Fixed) to PZ90 (Parametri Zemli 1990) 
vecefs85 
ECEF (Earth Centered Earth Fixed) to SGS85 (Soviet Geodetic System 1985) 
veciecef 
ECI (Earth Centered Inertial) to ECEF (Earth Centered Earth Fixed) 
venuecef 
ENU (East, North, Up) to ECEF (Earth Centered Earth Fixed) 
venugd 
ENU (East, North, Up) to Geodetic (latitude, longitude, altitude) for a
given position vector and a reference point 
venullw 
ENU (East, North, Up) to LLW (Local Level Wander azimuth) 
vgdecef 
Geodetic (latitude, longitude, altitude) to ECEF (Earth Centered Earth
Fixed), for a given position vector specified by the external points in
geodetic coordinates 
vgdenu 
Geodetic (latitude, longitude, altitude) to ENU (East, North, Up) for a
given position vector specified by the external points in geodetic
coordinates 
vinsecef 
INS (Wander / North, West, Up) to ECEF (Earth Centered Earth Fixed) 
vllwb 
LLW (Local Level Wander azimuth) to GPS body 
vllwecef 
LLW (Local Level Wander azimuth) to ECEF (Earth Centered Earth Fixed) 
vllwenu 
LLW (Local Level Wander azimuth) to ENU (East North Up) 
vp90ecef 
PZ90 (Parametri Zemli 1990) to ECEF (Earth Centered Earth Fixed) 
vs85ecef 
SGS85 (Soviet Geodetic System 1985) to ECEF (Earth Centered Earth Fixed) 
xvtransf 
main program executing vector transformations specified in the above
mentioned list (by selection) 
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(6)
Specialized plotting programs
xpbar 
bar graph for a selected column 
xyp1 
xy graph for a selected column 
xyp1s 
xy graph for a selected column, with statistics 
xyp2w 
xy graph for two selected columns in two different windows/subplots, with
statistics 
xyp3w 
xy graph for three selected columns in three different windows/ subplots,
with statistics 
xypc2 
xy graph of the difference between columns (from different files), with
statistics 
xypc2rss 
xy graph for RSS (root sum square) of the difference of three columns from
two files, with statistics 
xypm 
xy graph for the selected multiple columns 
xyprss 
xy graph for RSS (root sum square) of three selected columns, with
statistics 
xyprss2w 
xy graph for RSS (root sum square) of three selected columns corresponding
to position and velocity errors, in two windows/subplots, with statistics 
xypvstd 
xy graph for a selected column and the associated envelope (standard
deviation), with statistics 
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(7)
Specialized statistics related functions
cep 
circular error probable (CEP) 
rms 
root mean square (RMS) of a sample 
rms2 
modified root mean square (RMS) of a sample (mean of the sample is assumed
to be zero) 
rss 
root sum square (RSS) of a three component vector sample 
rssxy 
root sum square (RSS) of a two component vector sample 
vep 
vertical error probable (VEP) 
statup 
running mean, standard deviation and root mean square (rms) 
xcepvep 
main program determining the CEP or VEP of a specified data set 
xstat 
main program testing the macros: rms, rss, rssxy, and statup 
xstatc 
main program determining the mean, standard deviation and rms of the
elements of a specified column 
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(8)
Specialized signal processing and Kalman filter functions
dcmnorm 
normalization of the direction cosines matrix 
genrn 
random numbers with normal (Gaussian) distribution, with mean and standard
deviation specified 
gmp1 
first order GaussMarkov sequence 
gmp2 
second order GaussMarkov sequence 
kfcov 
Kalman filter covariance matrix by using conventional formulation 
kfcova 
Kalman filter covariance matrix by using alternate conventional formulation 
rwalk 
random walk process 
xgenrn 
main program generating the random numbers with normal (Gaussian)
distribution and plotting the generated sequence, histogram, and the
normalized autocorrelation sequence 
xgmp1 
main program generating first order GaussMarkov sequence and plotting the
generated sequence and the normalized autocorrelation sequence 
xgmp2 
main program generating second order GaussMarkov sequence and plotting the
generated sequence and the normalized autocorrelation sequence 
xkfcov 
main program performing the covariance analysis by using the conventional or
alternate conventional Kalman filter formulation 
xrwalk 
main program generating the random walk process and plotting the generated
sequence and the normalized autocorrelation sequence 
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(9) GPS Time
Utilities and related functions
cday 
determination of the civil day (year, month, day, hour and fraction) from a
specified modified Julian day (with fraction) 
doy2ymd 
determination of civil date (year, month, day) from day of year and
specified year 
gpslsec 
UTC leap seconds value for a specified year between 1980 and 2059 
leapyear 
determination of the leap year value 
mjday 
determination of the modified Julian day from the civil day (year, month,
day, hour and fraction) 
timetr 
determination of GPS time of transmission based on time of measurement
(reception) 
ymd2doy 
determination of day of year for a specified civil date (year, month, day) 
ymd2doy2 
determination of day of year for a specified civil date (year, month, day)
 different algorithm 
ymd2gps 
determination of (GPS week, GPS roll number, day of week) from (year, month,
day) 
xgpslsec 
main program determining UTC leap seconds value for a specified year between
1980 and 2059 
xgpstime 
main program executing GPS time related transformations 
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(10)
GPS Almanac and other data processing functions
elimcol 
elimination of a specified column of a two dimensional array 
elimrow 
elimination of a specified row of a two dimensional array 
msc2f 
symmetric matrix storage transformation from compact form (upper triangular
part, columnwise, onedimensional array) to full form (all elements,
twodimensional array) 
msf2c 
symmetric matrix storage transformation from full form (all elements,
twodimensional array) to compact form (upper triangular part, columnwise,
onedimensional array) 
selectd 
selection of the different elements from a specified array 
xelimrc 
main program testing the elimination of a specified row/column (see macros
elimrow and elimcol) 
xmisdat 
main program determining the missing data into a specified column of an
input data table 
xread_sem 
main program reading SEM almanac data and creating two data files 
xread_yuma 
main program reading Yuma almanac data and creating two data files 
xsortrec 
main program sorting the records based on the elements of a specified column
(in ascending order) 
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(11) Trajectory and
related utilities
gcnav 
great circle navigation position, velocity, acceleration 
geodes 
geodetic data for a specified departuredestination pair 
geoidh 
WGS84 geoid height correction 
gridwaas 
generation of longitudelatitude WAAS grid 
hpe 
horizontal position error (range) when latitude and longitude of two points
are specified 
trajs 
vehicle trajectory in straight segment with constant speed 
xgcdr 
main program determining great circle dead reckoning trajectory 
xgcnav 
main program determining great circle navigation position, velocity and
acceleration 
xgeodes 
main program determining geodesic when the departure and destination points
are specified 
xgeoidh 
main program determining WGS84 geoid height correction, and executing a
contour map 
xgridw 
main program plotting the longitudelatitude WAAS grid 
xhpe 
main program determining the horizontal position error (range) 
xppva 
main program determining acceleration from position/velocity data, and
plotting all relevant trajectory information 
xppvaj 
main program determining acceleration and jerk from position and velocity
data, and plotting all relevant trajectory information 
xtrajs 
main program determining the vehicle trajectory with straight segment and
constant speed 
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(12) Satellite position and velocity
computation
svpalm 
ECEF satellite position based on almanac data 
svpeph 
ECEF satellite position based on ephemeris data 
svpvalm 
ECEF satellite position and velocity based on ephemeris data 
xsvpalm 
main program determining ECEF satellite position based on almanac data 
xsvpcomp 
main program determining RSS satellite position difference based on
ephemeris and almanac data, and executing the corresponding graph 
xsvpeph 
main program determining ECEF satellite position based on ephemeris data 
xsvpvalm 
main program computing the ECEF satellite position and velocity based on
almanac data; WGS84 constants are used 
xsvpvcomp 
main program computing the RSS between ECEF satellite position/velocity
based on ephemeris and almanac data; WGS84 constants are used 
xsvpveph 
main program computing the ECEF satellite position and velocity based on
ephemeris data; WGS84 constants are used 
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(13) Elevation and azimuth determination, and satellite visibility
eleva 
elevation angle and the ECEF unit lineofsight vector 
elevar 
elevation angle, the ECEF unit lineofsight vector, and the range 
elevaz 
elevation angle, azimuth angle, the ECEF unit lineofsight vector, and
range 
range 
range between two position points 
uverv 
unit vertical vector for a given ECEF position vector 
xelaz 
main program determining elevation and azimuth angles for specified users,
time interval, and all satellites in view 
xpelaza 
main program executing the azimuthelevation plot for all satellites in
view, and the number of visible satellites plot 
xpelazs 
main program executing graphs related to elevation and azimuth angles for a
specified satellite and selected used (input file can be generated by xelaz) 
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(14) DOPs computation, satellite selection and
related functions
dop1 
dilution of precision (DOP) quantities when at least 3 lineofsight unit
vectors are specified 
dop2 
dilution of precision (DOP) quantities when 4 lineofsight unit vectors are
specified 
gdopv 
approximate geometric dilution of precision (GDOP) when four lineofsight
unit vectors are specified 
hmat 
H matrix based on lineofsight measurements 
hmatb 
H matrix based on lineofsight and baro measurements 
hmatbc 
H matrix based on lineofsight, baro and clock measurements 
hmatc 
H matrix based on lineofsight and clock measurements 
svsel4 
selection of a set of 4 satellites based on minimum GDOP 
svsel5 
selection of a set of 5 satellites based on minimum GDOP 
svsel6 
selection of a set of 6 satellites based on minimum GDOP 
wdop1 
weighted dilution of precision (WDOP) quantities when at least 3
lineofsight unit vectors and the corresponding weighting factors are
specified 
wdop2 
weighted dilution of precision (WDOP) quantities when 4 lineofsight unit
vectors and the corresponding weighting factor are specified 
wdopv 
weighted dilution of precision (WDOP) quantities when 4 lineofsight unit
vectors and the corresponding weighting factors are specified 
xdop 
main program determining dilution of precision (DOP) quantities by using 2
methods 
xgdopv 
main program determining an approximate value of the geometric dilution of
precision (GDOP) 
xhmatall 
main program testing the construction of the H matrix based on
lineofsight, baro and clock measurements 
xmapdop 
main program determining repartition of number of visible satellites and the
corresponding DOPs for a specified geographical area 
xsvsel 
main program executing the selection of 4, 5 or 6 satellites based on
minimum GDOP, and the computation of the corresponding DOP quantities 
xwdop 
main program computing the weighted dilution of precision (WDOP) quantities
when at least 3 lineofsight unit vectors and the corresponding weighting
factors are specified 
xwdopv 
main program computing the weighted dilution of precision (WDOP) quantities
when 4 lineofsight unit vectors and the corresponding weighting factors
are specified 
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(15) Pseudorange and Delta range determination and
related functions
ionoc 
L1 iono correction computation by using Klobuchar model 
ionocon 
setting of Klobuchar model iono constants 
pionoc 
pseudorange measurement corrected for ionospheric effects based on L1/L2
measured pseudoranges 
pradr 
pseudorange and accumulated delta range 
tropoc1 
tropospheric correction by using a simplified model 
uclock 
user clock bias and drift 
uercor 
user earth rotation correction vector 
xambig 
main program generating ambiguity numbers 
xionoc 
main program determining iono corrections by using Klobuchar model 
xmpath 
main program generating and saving the multipath pseudorange errors 
xpradr 
main program generating pseudorange and accumulated delta range 
xsaerr 
main program generating SA errors 
xtropoc1 
main program generating tropospheric delay contours for a specified location 
xuclock 
main program generating user clock bias and clock drift 
xuercor 
main program generating and plotting the magnitude of the earth rotation
correction vector for a specified longitude/latitude grid 
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(16) Determination
of user's position and related functions
uspos4 
position fix determination by using Bancroft's algorithm when 4
measurements are known 
uposdg 
position fix determination by using Bancroft's algorithm when at least 4
measurements are known 
uposit 
position fix determination by using an iterative method when at least
measurements are known 
xpfwls 
main program determining position fixes using weighted least squares
algorithm when the user is stationary 
xuposd4 
main program determining the user's position fix by using a direct method
when 4 measurements are known 
xuposdg 
main program determining the user's position fix by using a direct method
when at least 4 measurements are known 
xuposit 
main program determining the user's position fix by using an iterative
method when at least 4 measurements are knon 
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(17) RINEX 2 data
processing and position determination
svclockc 
computation of satellite clock correction. WGS84 constants are used 
xrinexn 
main program reads a RINEX 2 navigation message file and writes the data
into four files containing the header section main information, the complete
navigation section information, the reduced ephemeris and reduced almanac
data 
xrinexo 
main program reads a RINEX 2 observation message file and writes the data
into two files containing the header information and the main observation
data only 
xuposr 
main program computing user position based on RINEX 2 navigation and
observation data; no atmospheric corrections are applied 
xuposra 
main program computing user position based on RINEX 2 navigation and
observation data; iono and tropo corrections are applied 
xuposrp 
main program computing user position based on RINEX 2 navigation and
observation data; dual frequency Pcode iono and tropo corrections are
applied 
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(18) Basic RAIM/FDE
functions
dhmax 
delta_h_max computation (used in RAIM constant alarm rate algorithm) 
raimfd 
RAIM availability and fault detection by using the parity vector algorithm
(one step implementation) 
raimst 
RAIM availability and fault detection by using the standard (constant alarm
rate) algorithm 
slopemax 
slopemax computation (used in RAIM constant alarm rate algorithm) 
xopcr 
main program comparing four different implementations of RAIM decision
variable computation 
xraimda 
main program determining the RAIM fault detection availability for a user
selected or defined set of input data 
xraimea 
main program determining the RAIM fault exclusion availability for a user
selected or defined set of input data 
xraimfd 
main program determining RAIM availability and fault detection by using the
parity vector algorithm 
xraimst 
main program determining RAIM availability and fault detection by using the
standard (constant alarm rate) algorithm 
xslope 
main program determining slopemax and delta_h_max for RAIM baseline standard
(constant alarm rate) algorithm 
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(19) Advanced RAIM/FDE
functions
chi2_dof 
probability density function of Chisquare distribution with specified
degrees of freedom 
fdnt 
fault detection normalized thresholds 
fpbias_c 
parity bias for Chisquare distribution with degree of freedom greater than
1 
fpbias_g 
parity bias for Gauss distribution with one degree of freedom 
gauss_1 
probability density function for the normal Gaussian distribution 
heLveL1 
horizontal/vertical exclusion level (HEL/VEL) by using a direct conventional
method 
heLveL2 
horizontal/vertical exclusion level (HEL/VEL) by using the parity method 
heLveL3 
horizontal/vertical exclusion level (HEL/VEL) by using a new efficient
method 
hpLvpL1 
horizontal/vertical protection level (HPL/VPL) by using a direct
conventional method 
hpLvpL2 
horizontal/vertical protection level (HPL/VPL) by using the parity method 
ncchis2_k 
probability density function for the noncentral Chisquare distribution,
where k is 2 to 10 for the degree of freedom 2 to 10 
qrupa 
QR updating algorithm of the measurement matrix when a new clock
measurement is added 
sdop 
subdilution of precision (subDOP) quantities 
swdop 
subweighted dilution of precision (subWDOP) quantities 
xfdnt 
main program computing the fault detection normalized thresholds 
xheLveL 
main program determining the horizontal/vertical exclusion level (HEL/VEL)
by using three different methods 
xhpLvpL 
main program determining the horizontal/vertical protection level (HPL/VPL)by
using two different methods 
xpbias 
main program computing the value of the parity bias for 10 degrees of
freedom (dof) by using Gaussian distribution for dof = 1 and Chisquare
distribution for dof > 1 
xqrupa 
main program testing the QR updating algorithm of the measurement matrix
when a new clock measurement is added 
xsdop 
main program determining subdilution of precision (subDOP) quantities 
xswdop 
main program determining subweighted dilution of precision (subWDOP)
quantities 
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(20) GPS receiver
evaluation functions
cn0_j 
equivalent carrier to noise power density ratio for a specified jamming
level 
cn0_unj 
unjammed carrier to noise power density ratio 
fom 
figure of merit determination based on ICD059 table 
pracc_cl 
pseudorange accuracy of Costas loop implementation when the equivalent
carrier to noise power density ratio is known 
prscp 
carrier phase smoothed pseudorange by using a first order filter 
xcn0_pr 
main program executing graphs related to carriertonoise power density
ratio and pseudorange accuracy 
xebudget 
main program determining GPS error budget 
xfom 
main program plotting the figure of merit versus estimated position error
for a specified position error range 
xgpsr5s 
main program performing covariance analysis for the 5state GPS receiver
model (near stationary user) 
xgpsr8s 
main program performing covariance analysis for the 8state GPS receiver
model (near constant velocity user) 
xprcp 
main program performing pseudorange and carrier phase data analysis 
xprscp 
main program executing the pseudorange smoothing by carrier phase data using
a first order filter 
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