Benchmarks

UrbanNav Tokyo Odaiba

Dataset: UrbanNav Tokyo Odaiba
Comparison baseline: RTKLIB

Current checked-in snapshot:

• All matched epochs: libgnss++ 11637 vs RTKLIB 8241
• Fix rate: libgnss++ 8.11% vs RTKLIB 7.22%
• All-epoch p95 horizontal: libgnss++ 7.58 m vs RTKLIB 27.88 m
• Common-epoch median horizontal: libgnss++ 0.733 m vs RTKLIB 0.704 m
• Common-epoch p95 horizontal: libgnss++ 5.94 m vs RTKLIB 27.67 m

RTKLIB 2D	libgnss++ 2D

More artifacts:

• Odaiba social card
• Full comparison figure
• Scorecard
• Optional side-by-side PPP reference: JAXA-SNU/MALIB
• Additional low-cost GNSS reference: rtklibexplorer/RTKLIB

PPC-Dataset

External dataset source: taroz/PPC-Dataset

Example:

python3 apps/gnss.py ppc-demo \
  --dataset-root /datasets/PPC-Dataset \
  --city tokyo \
  --run run1 \
  --solver rtk \
  --require-realtime-factor-min 1.0 \
  --summary-json output/ppc_tokyo_run1_rtk_summary.json

python3 apps/gnss.py ppc-rtk-signoff \
  --dataset-root /datasets/PPC-Dataset \
  --city tokyo \
  --rtklib-bin /path/to/rnx2rtkp \
  --summary-json output/ppc_tokyo_run1_rtk_signoff.json

ppc-rtk-signoff is the fixed-threshold path for Tokyo/Nagoya quality and runtime checks, with optional RTKLIB delta gates.