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Add introductory documentation (#61)
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‎README.md‎

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# swiftnav-rs
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`swiftnav-rs` is a crate that implements GNSS utility functions for use by software-defined GNSS receivers or software requiring GNSS functionality. It is intended to be as portable as possible and has limited dependancies
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`swiftnav-rs` is a crate that implements GNSS utility functions for use by
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software-defined GNSS receivers or software requiring GNSS functionality. It is
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intended to be as portable as possible and has limited dependencies.
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`swiftnav-rs` does not provide any functionality for communicating with Swift
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Navigation receivers. See [libsbp](https://github.com/swift-nav/libsbp) to

‎src/c_bindings.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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// Include the C bindings
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#![allow(non_upper_case_globals)]
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#![allow(non_camel_case_types)]

‎src/coords.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Coordinates and conversions
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//!
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//! These four primary coordinates types are defined:

‎src/edc.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Error detection code
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use crate::c_bindings;

‎src/ephemeris.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Decoding and evaluation of satellite ephemeris
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//!
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//! GNSS satellites broadcast ephemeris, values used to calculate their position

‎src/ionosphere.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Ionosphere delay calculation
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//!
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//! Ionospheric delays are typically modeled with the Klobuchar model. The model

‎src/lib.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! `swiftnav-rs` is a library that implements GNSS utility functions to perform
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//! position estimations. The data used by `swiftnav-rs` typically comes from GNSS
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//! receiver chips as raw observation and ephemeris data. `swiftnav-rs` is more of
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//! a "bring your own algorithm" library, it provides a bunch of functionality that
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//! is useful when processing raw GNSS data, but it provides only limited position
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//! estimation capabilities. Each module encompasses a single set of functionality,
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//! and they are meant to be pretty self-explanatory for developers familiar with
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//! GNSS processing.
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//!
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//! GNSS systems are used to estimate the location of the receiver by determining
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//! the distance between the receiver and several satelites. The satellites send
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//! the distance between the receiver and several satellites. The satellites send
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//! out precisely timed periodic messages and the receiver measures the delay
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//! of those messages. Knowing the location of the satellites at the time of
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//! transmission and the delays of the messages the receiver is able to determine
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//! the location of itself in relation to the satellites.
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//!
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//! Libswiftnav is a library that implements GNSS utility functions to perform
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//! position estimations. The data used by libswiftnav typically comes from GNSS
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//! reciever chips as raw observation and ephemeris data.
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//! `swiftnav-rs` does not provide any functionality for communicating with
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//! receivers made by Swift Navigation, or any manufacturer.
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//! [libsbp](https://github.com/swift-nav/libsbp) is the library to use if you
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//! want to communicate with receivers using Swift Binary Protocol (SBP).
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//!
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//! ## Time
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//! Time is a very important aspect of GNSS. `swiftnav-rs` defaults to representing
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//! all times as GPS times. It provides the ability to manipulate GPS time stamps,
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//! as well as means to convert a GPS time stamp into various other time bases
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//! (GLONASS time, UTC, MJD).
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//!
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//! ## Coordinates
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//! Several different coordinate types have representations and the ability to
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//! convert between them. Earth centered earth fixed (ECEF), Latitude longitude and
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//! height (both in radians and degrees), and Azimuth and elevation coordinates are
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//! available.
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//!
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//! ## Ephemeris
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//! Decoding and evaluation of broadcast ephemeris for all major GNSS constellations
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//! is made available. You are able to calculate the satellite position at a
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//! particular point in time in several different coordinates.
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//!
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//! Libswiftnav does not provide any functionality for communicating with Swift
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//! Navigation or any other receivers. See [libsbp](https://github.com/swift-nav/libsbp)
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//! to communicate with receivers using Swift Binary Protocol (SBP).
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//! ## Troposphere and Ionosphere
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//! Two major sources of signal error in GNSS are the troposphere and ionosphere.
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//! `swiftnav-rs` provides the ability to decode and use the broadcast Klobuchar
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//! ionosphere model. An implementation of the UNM3m troposphere model is also
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//! provided.
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//!
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//! ## Single epoch position solver
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//! A simple least squares position solver is also included. This allows you to
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//! get an approximate position with GNSS measurements from a single point in time.
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//! It uses a least squares algorith, so no state is maintained between solves.
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//! This can be used to seed your own position estimation algorithm with a rough
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//! starting location.
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mod c_bindings;
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pub mod coords;

‎src/navmeas.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Raw GNSS measurement representation
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//!
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//! Raw measurements of GNSS signals have several aspects to them, from the time

‎src/signal.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Signal identifiers
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//!
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//! Signals are specific to a satellite and code combination. A satellite is

‎src/solver.rs‎

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// Copyright (c) 2020-2021 Swift Navigation Inc.
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// Contact: Swift Navigation <dev@swiftnav.com>
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//
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// This source is subject to the license found in the file 'LICENSE' which must
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// be be distributed together with this source. All other rights reserved.
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//
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// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//! Single epoch PVT solver
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//!
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//! Several [raw measurements](crate::navmeas::NavigationMeasurement) from the

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