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"Researchers Tomoji Takasu and Akio Yasuda of Tokyo University developed the RTKLIB library to perform the RTK-GPS calculations, and then ported the whole thing to run on a low-cost beagle board and commodity GPS receiver. Want to try it out? Full source code, circuit layouts and instructions are provided on their site."
links for 2009-11-14 is a post from: GPS Obsessed