G-Nut/Anubis application

G-Nut/Anubis is a command-line tool for a quality check of modern data from all available GNSS constellations providing full quantitative and qualitative control with support of GNSS navigation messages, SP3 orbit products or both:

  • observation statistics (counts of observations, signals, bands, satellites of GPS, GLONASS, Galileo, BeiDou, SBAS, QZSS)
  • standard point positioning (if data and navigation messages provided for GPS, GLONASS, Galileo and BeiDou)
  • pre-processing including clock-jumps and cycle-slip detection and other interruptions over all constellations, frequencies and signals
  • satellite elevations and azimuths (if supported with constellation-specific navigation messages or SP3 products
  • elevation-specific histograms, satellite ascending/descending times for horizon and user elevation cut-off
  • pseudo-range multipath and noise
  • carrier-phase signal-to-noise ratio
  • data gaps and small data pieces
  • outputs in specific XTR and minimalistic standard XML formats
  • other useful lists and statistics

The application is implemented using the G-Nut core library developed at Geodetic Observatory Pecny (GOP), see Václavovic and Douša, 2016.

Anubis GNSS QC skyplot

  • G-Nut/Anubis is an open source application aimed for the RINEX file qualitative and quantitative monitoring. It is released under GNU GPL
  • G-Nut/QAnubis is an application providing enhanced capabilities, such as a real-time QC mode, user-friendly gui including visualizations. The release is under preparation for 2017.

Anubis configuration, input and outputs are described under left menu.

SUPPORT - the lite version is provided "AS IS", without warranty of any kind and a support is given on a best-effort basis only. Other related questions could be sent to This email address is being protected from spambots. You need JavaScript enabled to view it. (J.Dousa/P.Vaclavovic).

DOWNLOAD - area for the software download.
INSTALLATION - instructions for the software installation.
VISUALISATION - perl scripts for Anubis report plotting.
EXAMPLES - example configuration with input and output files.
RELEASE_NOTES - list of fixes, enhancements and updates.
FORMAT_CHANGES - Anubis extraction format modifications.


  • Vaclavovic P, Dousa J (2016), G-Nut/Anubis - open-source tool for multi-GNSS data monitoring, In: IAG Symposia Series, Springer, Vol. 143, pp. 775-782, doi:10.1007/1345_2015_157, PDF.
  • Václavovic P., Douša J..: Development Towards Advanced GNSS Data Quality Monitoring, In: Družicové metody v geodézii a katastru, Sborník referátů. Brno, ECON publishing, s.r.o, pp 76-81, 2015 (in english PDF)
  • Vaclavovic P and Dousa J (2013), Anubis – a tool for quality check of multi-GNSS observation and navigation data In: 4th International Colloquium Scientific and Fundamental Aspects of the Galileo Programme, 4-6 December 2013, Prague, Czech Republic. PDF.

NEWS - in order to keep informed about news you can join the G-Nut mailman list.

  • 2016-11-07 - Released Anubis 2.0.1 - recent version with a few minor bug fixes, see   RELEASE_NOTES
  • 2016-10-05 - Released Anubis 2.0 - teqc total summary, expt/have at elev cut-off, new XML (EPOS), preliminary IRNSS & RINEX3.03, etc.
  • 2016-01-27 - Released Anubis 1.4 - SNR support, SP3 format, Windows support, kinematic and high-rate processing
  • 2015-01-28 - Released Anubis 1.3 - all-constellations/-bands/-signal pre-processing, advanced statistics, merged navigation messages etc.
  • 2014-08-13 - Released Anubis 1.2 - navigation messages for all GNSS constellations, GPS, GLONASS, Galileo, BeiDou standard positioning
  • 2014-04-29 - Released Anubis 1.1 - qualitative QC for GPS&GLO, bancroft positioning, boost-independent version, RINEX3.02 support
  • 2013-08-16 - Released Anubis 1.0 - multi-path detection for all constellations, signals and frequencies
  • 2013-03-10 - Released Anubis 0.9 - beta version