GPS ICD: https://www.gps.gov/technical/icwg/ GLOASS ICD: https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf Beidou ICD: http://beidou.gov.cn/xt/gfxz/201802/P020180209623601401189.pdf