Please see https://github.com/swift-nav/libswiftnav
Libswiftnav is a platform independent library that implements GNSS functions and algorithms for use by software-defined GNSS receivers or software requiring GNNS functionality. It is intended to be as portable as possible and is written in standards compliant C with no dependancies other than the standard C libraries.
Libswiftnav does not provide any functionality for communicating with Swift Navigation receivers. See libsbp to communicate with receivers using Swift Binary Protocol (SBP).
For Doxygen documentation, see docs.swift-nav.com.
For installation, see docs/install.dox.
For development help, see DEVELOPMENT.md