Add introductory documentation

README.md

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

src/coords.rs

@@ -1,3 +1,12 @@
+// Copyright (c) 2020-2021 Swift Navigation Inc.
+// Contact: Swift Navigation <dev@swiftnav.com>
+//
+// This source is subject to the license found in the file 'LICENSE' which must
+// be be distributed together with this source. All other rights reserved.
+//
+// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 //! Coordinates and conversions
 //!
 //! These four primary coordinates types are defined:

src/edc.rs

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

src/ephemeris.rs

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

src/ionosphere.rs

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

src/navmeas.rs

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

src/troposphere.rs

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+// Copyright (c) 2020-2021 Swift Navigation Inc.
+// Contact: Swift Navigation <dev@swiftnav.com>
+//
+// This source is subject to the license found in the file 'LICENSE' which must
+// be be distributed together with this source. All other rights reserved.
+//
+// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 //! Troposphere delay calculation
 //!
 //! Tropospheric delays are typically modeled with the UNM3m model. The model