## G-Nut/Anubis - standard point positioning

If reliable navigation messages are available for any global constellation, Anubis estimates
coordinates of the receiver using the standard point positioning (SPP) method and pseudo-range
observations only. The receiver position is currently estimated for each GNSS separately using
a common sampling rate of 15 minutes. Below figures show a) **left:** the comparison of RMS of NEU
coordinate repeatability (expressed in meters) from individual available GNSS and b) **right:**
horizontal epoch-wise positioning with a relative size of point calculated from the
Geometric Dilution of Precision (GDOP) values.

Setting **sec_est="1"** requests the output of mean coordinates and root-mean-squares calculated
from coordinate repeatabilities. Individually, Cartesian and spherical coordinates are reported, while
for the latter root-mean-squares are expressed in North,East,Up [m]. Finally, numbers of epochs of
all observations and epoch of outliers are reported.

Setting **sec_est="2"** enables epoch-wise estimates reported in Cartesian and spherical
coordinates and the GDOP.