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--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,9 +28,11 @@ CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
 		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+        #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c99")
 elseif(COMPILER_SUPPORTS_CXX0X)
 		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+        #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c99")
 else()
         message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
 endif()
diff --git a/Findgnss_utils.cmake b/Findgnss_utils.cmake
index 85306e55c56ff0aea7537dcf31d091f2a426d9dc..849abcdb60ef0274c6affb4d365ba528951fa6e9 100644
--- a/Findgnss_utils.cmake
+++ b/Findgnss_utils.cmake
@@ -1,5 +1,5 @@
 #edit the following line to add the librarie's header files
-FIND_PATH(gnss_utils_INCLUDE_DIR gnss_utils.h obervation.h /usr/include/iridrivers /usr/local/lib)
+FIND_PATH(gnss_utils_INCLUDE_DIR gnss_utils.h /usr/include/iridrivers /usr/local/lib)
 
 FIND_LIBRARY(gnss_utils_LIBRARY
     NAMES gnss_utils
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+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if !defined(__STDC_VERSION__)
+  "90"
+#elif __STDC_VERSION__ >= 201000L
+  "11"
+#elif __STDC_VERSION__ >= 199901L
+  "99"
+#else
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/build/CMakeFiles/3.5.1/CompilerIdC/a.out b/build/CMakeFiles/3.5.1/CompilerIdC/a.out
new file mode 100755
index 0000000000000000000000000000000000000000..3e779cddc6621457f3aa2ca25bab3125c9c419b2
Binary files /dev/null and b/build/CMakeFiles/3.5.1/CompilerIdC/a.out differ
diff --git a/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e6d853637c6f7637dd8672b59612a9263a4d0244
--- /dev/null
+++ b/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,533 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(__ARMCC_VERSION)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID ""
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
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+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
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+  require += info_simulate_version[argc];
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+.PHONY : cmake_check_build_system
+
diff --git a/build/src/examples/cmake_install.cmake b/build/src/examples/cmake_install.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..b25bd31561cc5361b76176bc32459c03a16d6944
--- /dev/null
+++ b/build/src/examples/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /home/jlaplaza/gitlab/gnss_utils/src/examples
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "RELEASE")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
diff --git a/include/gnss_utils.h b/include/gnss_utils.h
index f090487399a008b1dc097d3f0e1e5fa47ecaa353..c36d2f78bce2cd294ac4c541db7c8271c13bf739 100644
--- a/include/gnss_utils.h
+++ b/include/gnss_utils.h
@@ -8,6 +8,16 @@
 extern "C"
 {
     #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
+    #include "/home/jlaplaza/RTKLIB/src/pntpos.c"
+    #include "/home/jlaplaza/RTKLIB/src/rtkcmn.c"
+    #include "/home/jlaplaza/RTKLIB/src/sbas.c"
+    #include "/home/jlaplaza/RTKLIB/src/ephemeris.c"
+    #include "/home/jlaplaza/RTKLIB/src/preceph.c"
+    #include "/home/jlaplaza/RTKLIB/src/qzslex.c"
+    //#include "/home/jlaplaza/RTKLIB/src/rtcm.c"
+    //#include "/home/jlaplaza/RTKLIB/src/rtcm2.c"
+    //#include "/home/jlaplaza/RTKLIB/src/rtcm3.c"
+    #include "/home/jlaplaza/RTKLIB/src/ionex.c"
 }
 
 namespace GNSSUtils
@@ -74,6 +84,7 @@ namespace GNSSUtils
       int computeSPP(double *azel, char *msg);
     
     private:
+      // Private objects 
       // rtklib-like attribute to represent the different observation msgs for a given epoch
       std::vector<obsd_t> _obsVector;
   
@@ -89,6 +100,9 @@ namespace GNSSUtils
       // rtklib-like attribute to represent the satellite status for a given epoch
       ssat_t _ssat;
 
+      // Private methods
+
+
   };
 }
 #endif
diff --git a/include/navigation.h b/include/navigation.h
new file mode 100644
index 0000000000000000000000000000000000000000..65bb9c036fa70809ff7a6b93c5f22cb68bd8e4a2
--- /dev/null
+++ b/include/navigation.h
@@ -0,0 +1,143 @@
+#ifndef GNSS_UTILS_H
+#define GNSS_UTILS_H
+
+#include <vector>
+#include <iostream>
+#include <memory>
+
+extern "C"
+{
+    #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
+}
+
+namespace GNSSUtils
+{
+  class Navigation
+  {
+    public:
+      // Constructor & Destructor
+      Navigation();
+      ~Navigation();
+
+      // Public objects
+
+      // Public methods
+
+      void clearNavigation();
+      
+      void setNavigation(nav_t nav);
+
+      nav_t getNavigation();
+
+
+      /****************** Array memory management ******************/
+
+
+      // Ephemeris
+      void allocateEphemeris(int n);
+
+      void deleteEphemeris();
+
+      void allocateGLONASSEphemeris(int n);
+
+      void deleteGLONASSEphemeris();
+
+      void allocateSBASEphemeris(int n); //SBAS
+
+      void deleteSBASEphemeris();
+
+      void allocateAlmanac(int n);
+
+      void deleteAlmanac();
+
+
+      // UTC
+      void allocateUTCGPS(int n);    //GPS
+
+      void deleteUTCGPS();
+
+      void allocateUTCGlo(int n);    // Glo
+
+      void deleteUTCGlo();
+
+      void allocateUTCGal(int n);    // Galileo
+
+      void deleteUTCGal();
+
+      void allocateUTCQZS(int n);    // QZS
+
+      void deleteUTCQZS();
+
+      void allocateUTCCMP(int n);    // BeiDou
+
+      void deleteUTCCMP();
+
+      void allocateUTCSBAS(int n);    // SBAS
+
+      void deleteUTCSBAS();
+
+
+      // Ionosphere
+      void allocateIonGPS(int n);      // GPS
+
+      void deleteIonGPS();
+
+      void allocateIonGal(int n);      // Galileo
+
+      void deleteIonGal();
+  
+      void allocateIonQZS(int n);      // QZS
+
+      void deleteIonQZS();
+
+      void allocateIonCMP(int n);      // BeiDou
+
+      void deleteIonCMP();
+
+
+      //Others
+      void allocatelam(int n);
+
+      void deletelam();
+
+      void allocatecbias(int n);
+
+      void deletecbias();
+
+      void allocatewlbias(int n);
+
+      void deletewlbias();
+
+      void allocateglocpbias(int n);
+
+      void deleteglocpbias();
+
+      void allocateglofcn(int n);
+
+      void deleteglofcn();
+
+      void allocatepcv(int n);
+
+      void deletepcv();
+
+      void allocatesbsion(int n);
+
+      void deletesbsion();
+
+
+
+      
+      
+    
+    private:
+  
+      // rtklib-like attribute to represent the different navigation msgs for a given epoch
+      nav_t _nav;
+
+      // Private methods
+
+
+  };
+}
+#endif
+
diff --git a/include/observations.h b/include/observations.h
new file mode 100644
index 0000000000000000000000000000000000000000..06898ef155e51525fb5a868f3f227d7183a4b3ff
--- /dev/null
+++ b/include/observations.h
@@ -0,0 +1,51 @@
+#ifndef GNSS_UTILS_H
+#define GNSS_UTILS_H
+
+#include <vector>
+#include <iostream>
+#include <memory>
+
+
+
+extern "C"
+{
+    #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
+}
+
+namespace GNSSUtils
+{
+  class Observations
+  {
+    public:
+      // Constructor & Destructor
+      Observations();
+      ~Observations();
+
+      // Public objects
+
+      // Public methods
+
+
+      /* - Observations -  */
+
+      void clearObservations();
+
+      void pushObservation(obsd_t obs);
+    
+      std::vector<obsd_t> getObservations();
+
+
+    
+    private:
+      // Private objects 
+      // rtklib-like attribute to represent the different observation msgs for a given epoch
+      std::vector<obsd_t> _obsVector;
+  
+
+      // Private methods
+
+
+  };
+}
+#endif
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ea5f7445478c8c2ed1e9d3d01f90cdcd573cbb36..e9633cd1746f7b380b7a09862e257e0ba2ac1d6d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,5 +1,11 @@
+# rtklib path
+set(rtklib_dir $ENV{HOME}/RTKLIB)
+set(rtklib_src_dir ${rtklib_dir}/src)
+
 # driver source files
 SET(sources gnss_utils.cpp)
+SET(rtklib_src ${rtklib_src_dir}/pntpos.c ${rtklib_src_dir}/rtkcmn.c ${rtklib_src_dir}/sbas.c ${rtklib_src_dir}/ephemeris.c ${rtklib_src_dir}/preceph.c ${rtklib_src_dir}/qzslex.c ${rtklib_src_dir}/rtcm.c ${rtklib_src_dir}/rtcm2.c ${rtklib_src_dir}/rtcm3.c ${rtklib_src_dir}/ionex.c)
+
 
 # application header files
 SET(headers ../include/gnss_utils.h)
@@ -23,7 +29,7 @@ link_directories(/usr/lib/x86_64-linux-gnu/)
 INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
 
 # create the shared library
-ADD_LIBRARY(gnss_utils SHARED ${sources})
+ADD_LIBRARY(gnss_utils SHARED ${sources} ${rtklib_src})
 TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
 
 # Installing
diff --git a/src/Obs-Nav-CMakeLists.txt b/src/Obs-Nav-CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff6b156319717664dcbbaff0a23acd7e4bb71323
--- /dev/null
+++ b/src/Obs-Nav-CMakeLists.txt
@@ -0,0 +1,37 @@
+# driver source files
+SET(sources observations.cpp navigation.cpp)
+
+# application header files
+SET(headers ../include/observations.h ../include/navigation.h)
+
+# RTKLIB
+INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake)
+
+# Eigen #######
+FIND_PACKAGE(Eigen3 REQUIRED)
+
+# Boost #######
+set(Boost_USE_STATIC_LIBS OFF)
+set(Boost_USE_MULTITHREADED OFF)
+set(Boost_USE_STATIC_RUNTIME OFF)
+FIND_PACKAGE(Boost REQUIRED)
+
+# Adding libraries' directories
+link_directories(/usr/lib/x86_64-linux-gnu/)
+
+# Adding include directories
+INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
+
+# create the shared library
+ADD_LIBRARY(gnss_utils SHARED ${sources})
+TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
+
+# Installing
+INSTALL(TARGETS gnss_utils
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION /usr/local/lib
+        ARCHIVE DESTINATION lib)
+INSTALL(FILES ${headers} DESTINATION include/gnss_utils)
+# INSTALL(FILES ../gnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+ADD_SUBDIRECTORY(examples)
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 6375e77e30b0b39d621c872197a56116e465eec0..340f3919d3fee9d576b3dffbd532b680da6af945 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -10,14 +10,26 @@ int main(int argc, char *argv[])
   std::cout << "GNSS Utils Library Example" << std::endl;
   std::cout << "--------------------------" << std::endl;
   // create a Receiver object
-  //GNSSUtils::Receiver test_rcv;
-
-  // create a Observation object
-  gtime_t ts={0};
-  unsigned char q=1, w=2, e=3;
-  std::vector<unsigned char> vu({q, w, e});
-  std::vector<double> vd({1., 2., 3.});
-  std::vector<float> vf({1., 2., 3.});
+  GNSSUtils::Receiver test_rcv;
+
+  // set _obsVector attribute
+  int year=2018, month=5, day=17, hour=14, min=1, seconds=2;
+  double seconds_frac=0.002;
+  time_t te = {0};
+
+  gtime_t time = {te, seconds_frac};
+  
+
+  //Set processing options
+  prcopt_t prcopt = prcopt_default;
+  test_rcv.setOptions(prcopt);
+    
+  
+  //Set solution
+  
+
+    
+
   //Observation test_obs(ts, 1, 1, vu, vu, vu, vd, vd, vf);
 
   // Display current Observation
diff --git a/src/examples/raw_201805171357.nav b/src/examples/raw_201805171357.nav
new file mode 100644
index 0000000000000000000000000000000000000000..fcd505727f62595cdcb7d6609f229eba3d34bcea
--- /dev/null
+++ b/src/examples/raw_201805171357.nav
@@ -0,0 +1,241 @@
+     3.03           N: GNSS NAV DATA    M: Mixed            RINEX VERSION / TYPE
+RTKCONV-QT 2.4.3 Eml                    20180518 083005 UTC PGM / RUN BY / DATE 
+log: /home/fherrero/Desktop/rtk_data/may17_street/rover/ra  COMMENT             
+format: u-blox                                              COMMENT             
+                                                            END OF HEADER       
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diff --git a/src/examples/raw_201805171357.obs b/src/examples/raw_201805171357.obs
new file mode 100644
index 0000000000000000000000000000000000000000..cf18d78b9c11bf8ca48f2fea2bb01bb2db3e344a
--- /dev/null
+++ b/src/examples/raw_201805171357.obs
@@ -0,0 +1,36 @@
+     3.03           OBSERVATION DATA    M: Mixed            RINEX VERSION / TYPE
+RTKCONV-QT 2.4.3 Eml                    20180518 083005 UTC PGM / RUN BY / DATE 
+log: /home/fherrero/Desktop/rtk_data/may17_street/rover/ra  COMMENT             
+format: u-blox                                              COMMENT             
+                                                            MARKER NAME         
+                                                            MARKER NUMBER       
+                                                            MARKER TYPE         
+                                                            OBSERVER / AGENCY   
+                                                            REC # / TYPE / VERS 
+                                                            ANT # / TYPE        
+  4789374.0336   177048.3292  4194542.6444                  APPROX POSITION XYZ 
+        0.0000        0.0000        0.0000                  ANTENNA: DELTA H/E/N
+G    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES 
+R    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES 
+E    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES 
+J    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES 
+S    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES 
+C    4 C1I L1I D1I S1I                                      SYS / # / OBS TYPES 
+  2018     5    17    14     1    2.0020000     GPS         TIME OF FIRST OBS   
+  2018     5    17    14    42    8.6010000     GPS         TIME OF LAST OBS    
+G                                                           SYS / PHASE SHIFT   
+R                                                           SYS / PHASE SHIFT   
+E                                                           SYS / PHASE SHIFT   
+J                                                           SYS / PHASE SHIFT   
+S                                                           SYS / PHASE SHIFT   
+C                                                           SYS / PHASE SHIFT   
+  0                                                         GLONASS SLOT / FRQ #
+ C1C    0.000 C1P    0.000 C2C    0.000 C2P    0.000        GLONASS COD/PHS/BIS 
+                                                            END OF HEADER       
+> 2018  5 17 14  1  2.0020000  0  5                     
+G25  22348322.550 2 117441226.71621     -3039.055          45.000  
+G29  20873167.574 9                     -2449.652          23.000  
+R11  20330782.856 9 108641485.22725     -3329.648          32.000  
+G31  20920707.830 8 109939061.00922     -1587.315          39.000  
+G21  21597659.275 8 113496465.14223      1343.465          37.000  
+
diff --git a/src/examples/raw_201805171357.pos b/src/examples/raw_201805171357.pos
new file mode 100644
index 0000000000000000000000000000000000000000..7030b0bf011cd2c18784093eceb12137873521f9
--- /dev/null
+++ b/src/examples/raw_201805171357.pos
@@ -0,0 +1,12 @@
+% program   : RTKPOST-QT ver.2.4.3 Emlid b28
+% inp file  : /home/fherrero/Desktop/rtk_data/may17_street/rover/raw_201805171357.obs
+% inp file  : /home/fherrero/Desktop/rtk_data/may17_street/base/raw_201805171405.obs
+% inp file  : /home/fherrero/Desktop/rtk_data/may17_street/rover/raw_201805171357.nav
+% obs start : 2018/05/17 14:01:02.0 GPST (week2001 396062.0s)
+% obs end   : 2018/05/17 14:42:08.6 GPST (week2001 398528.6s)
+% ref pos   : 41.383326247    2.117100983   105.6453
+%
+% (lat/lon/height=WGS84/ellipsoidal,Q=1:fix,2:float,3:sbas,4:dgps,5:single,6:ppp,ns=# of satellites)
+%  GPST                  latitude(deg) longitude(deg)  height(m)   Q  ns   sdn(m)   sde(m)   sdu(m)  sdne(m)  sdeu(m)  sdun(m) age(s)  ratio
+2018/05/17 14:01:02.002   41.383293114    2.116101115   -91.6641   5   5  11.9771  18.8489  79.2352 -14.4364  38.1163 -29.5030 -330.00    0.0
+
diff --git a/src/navigation.cpp b/src/navigation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..77cfc2a68a989182ac6aa784740212ae7a2d8b4e
--- /dev/null
+++ b/src/navigation.cpp
@@ -0,0 +1,641 @@
+#include "../include/navigation.h"
+
+
+using namespace GNSSUtils;
+
+Navigation::Navigation()
+{
+
+}
+
+Navigation::~Navigation()
+{
+  this->clearNavigation();
+}
+
+void Navigation::clearNavigation()
+{
+  this->deleteEphemeris();
+  this->deleteGLONASSEphemeris();
+  this->deleteSBASEphemeris();
+
+  this->deleteAlmanac();
+
+  this->deleteUTCGPS();
+  this->deleteUTCGlo();
+  this->deleteUTCGal();
+  this->deleteUTCQZS();
+  this->deleteUTCCMP();
+  this->deleteUTCSBAS();
+
+  this->deleteIonGPS();
+  this->deleteIonGal();
+  this->deleteIonQZS();
+  this->deleteIonCMP();
+
+  this->deletelam();
+  this->deletecbias();
+
+  this->deletewlbias();
+  this->deleteglocpbias();
+  this->deleteglofcn();
+ 
+  this->deletepcv();
+  this->deletesbsion();
+}
+
+void Navigation::setNavigation(nav_t nav)
+{
+  this->allocateEphemeris(nav.n);
+  this->allocateGLONASSEphemeris(nav.ng);
+  this->allocateSBASEphemeris(nav.ns);
+
+  this->allocateAlmanac(nav.na);
+
+  this->allocateUTCGPS(4);
+  this->allocateUTCGlo(4);
+  this->allocateUTCGal(4);
+  this->allocateUTCQZS(4);
+  this->allocateUTCCMP(4);
+  this->allocateUTCSBAS(4);
+
+  this->allocateIonGPS(8);
+  this->allocateIonGal(4);
+  this->allocateIonQZS(8);
+  this->allocateIonCMP(8);
+
+  this->allocatelam(MAXSAT*NFREQ);
+  this->allocatecbias(MAXSAT*3);
+
+  this->allocatewlbias(MAXSAT);
+  this->allocateglocpbias(4);
+  this->allocateglofcn(MAXPRNGLO+1);
+ 
+  this->allocatepcv(MAXSAT);
+  this->allocatesbsion(MAXBAND+1);
+  
+
+  _nav = nav;
+}
+
+nav_t Navigation::getNavigation()
+{
+  return this->_nav;
+}
+
+
+/****************** Array memory management ******************/
+
+
+void Navigation::allocateEphemeris(int n)
+{
+  if (_nav.eph)
+  {
+    _nav.eph = (eph_t *)realloc(_nav.eph, n * sizeof(eph_t));
+  }
+  
+  else
+  {
+    _nav.eph = (eph_t *) malloc(n * sizeof(eph_t));
+  }
+}
+
+void Navigation::deleteEphemeris()
+{
+  if (_nav.eph)
+  {
+    free(_nav.eph);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateGLONASSEphemeris(int n)
+{
+  if (_nav.geph)
+  {
+    _nav.geph = (geph_t *)realloc(_nav.geph, n * sizeof(geph_t));
+  }
+  
+  else
+  {
+    _nav.geph = (geph_t *) malloc(n * sizeof(geph_t));
+  }
+}
+
+void Navigation::deleteGLONASSEphemeris()
+{
+  if (_nav.geph)
+  {
+    free(_nav.geph);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateSBASEphemeris(int n)
+{
+  if (_nav.seph)
+  {
+    _nav.seph = (seph_t *)realloc(_nav.seph, n * sizeof(seph_t));
+  }
+  
+  else
+  {
+    _nav.seph = (seph_t *) malloc(n * sizeof(seph_t));
+  }
+}
+
+void Navigation::deleteSBASEphemeris()
+{
+  if (_nav.seph)
+  {
+    free(_nav.seph);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateAlmanac(int n)
+{
+  if (_nav.alm)
+  {
+    _nav.alm = (alm_t *)realloc(_nav.alm, n * sizeof(alm_t));
+  }
+  
+  else
+  {
+    _nav.alm = (alm_t *) malloc(n * sizeof(alm_t));
+  }
+}
+
+void Navigation::deleteAlmanac()
+{
+  if (_nav.alm)
+  {
+    free(_nav.alm);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+// UTC
+
+void Navigation::allocateUTCGPS(int n)  //GPS
+{
+  if (_nav.utc_gps)
+  {
+    _nav.utc_gps = (double *)realloc(_nav.utc_gps, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_gps = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteUTCGPS()
+{
+  if (_nav.utc_gps)
+  {
+    free(_nav.utc_gps);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateUTCGlo(int n)  //GLONASS
+{
+  if (_nav.utc_glo)
+  {
+    _nav.utc_glo = (double *)realloc(_nav.utc_glo, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_glo = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteUTCGlo()
+{
+  if (_nav.utc_glo)
+  {
+    free(_nav.utc_glo);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateUTCGal(int n)  //Galileo
+{
+  if (_nav.utc_gal)
+  {
+    _nav.utc_gal = (double *)realloc(_nav.utc_gal, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_gal = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteUTCGal()
+{
+  if (_nav.utc_gal)
+  {
+    free(_nav.utc_gal);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateUTCQZS(int n)  //QZS
+{
+  if (_nav.utc_qzs)
+  {
+    _nav.utc_qzs = (double *)realloc(_nav.utc_qzs, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_qzs = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteUTCQZS()
+{
+  if (_nav.utc_qzs)
+  {
+    free(_nav.utc_qzs);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateUTCCMP(int n)  //BeiDou
+{
+  if (_nav.utc_cmp)
+  {
+    _nav.utc_cmp = (double *)realloc(_nav.utc_cmp, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_cmp = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteUTCCMP()
+{
+  if (_nav.utc_cmp)
+  {
+    free(_nav.utc_cmp);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateUTCSBAS(int n)  //SBAS
+{
+  if (_nav.utc_sbs)
+  {
+    _nav.utc_sbs = (double *)realloc(_nav.utc_sbs, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_sbs = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteUTCSBAS()
+{
+  if (_nav.utc_sbs)
+  {
+    free(_nav.utc_sbs);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+// Ionosphere
+
+void Navigation::allocateIonGPS(int n)  //GPS
+{
+  if (_nav.ion_gps)
+  {
+    _nav.ion_gps = (double *)realloc(_nav.ion_gps, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.ion_gps = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteIonGPS()
+{
+  if (_nav.ion_gps)
+  {
+    free(_nav.ion_gps);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateIonGal(int n)  //Galileo
+{
+  if (_nav.utc_gal)
+  {
+    _nav.utc_gal = (double *)realloc(_nav.utc_gal, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_gal = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteIonGal()
+{
+  if (_nav.utc_gal)
+  {
+    free(_nav.utc_gal);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateIonQZS(int n)  //QZS
+{
+  if (_nav.utc_qzs)
+  {
+    _nav.utc_qzs = (double *)realloc(_nav.utc_qzs, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_qzs = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteIonQZS()
+{
+  if (_nav.utc_qzs)
+  {
+    free(_nav.utc_qzs);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateIonCMP(int n)  //BeiDou
+{
+  if (_nav.utc_cmp)
+  {
+    _nav.utc_cmp = (double *)realloc(_nav.utc_cmp, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.utc_cmp = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteIonCMP()
+{
+  if (_nav.utc_cmp)
+  {
+    free(_nav.utc_cmp);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+// Others
+
+void Navigation::allocatelam(int n)
+{
+  if (_nav.lam)
+  {
+    _nav.lam = (double *)realloc(_nav.lam, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.lam = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deletelam()
+{
+  if (_nav.lam)
+  {
+    free(_nav.lam);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocatecbias(int n)
+{
+  if (_nav.cbias)
+  {
+    _nav.cbias = (double *)realloc(_nav.cbias, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.cbias = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deletecbias()
+{
+  if (_nav.cbias)
+  {
+    free(_nav.cbias);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocatewlbias(int n)
+{
+  if (_nav.wlbias)
+  {
+    _nav.wlbias = (double *)realloc(_nav.wlbias, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.wlbias = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deletewlbias()
+{
+  if (_nav.wlbias)
+  {
+    free(_nav.wlbias);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateglocpbias(int n)
+{
+  if (_nav.glo_cpbias)
+  {
+    _nav.glo_cpbias = (double *)realloc(_nav.glo_cpbias, n * sizeof(double));
+  }
+  
+  else
+  {
+    _nav.glo_cpbias = (double *) malloc(n * sizeof(double));
+  }
+}
+
+void Navigation::deleteglocpbias()
+{
+  if (_nav.glo_cpbias)
+  {
+    free(_nav.glo_cpbias);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocateglofcn(int n)
+{
+  if (_nav.glo_fcn)
+  {
+    _nav.glo_fcn = (char *)realloc(_nav.glo_fcn, n * sizeof(char));
+  }
+  
+  else
+  {
+    _nav.glo_fcn = (char *) malloc(n * sizeof(char));
+  }
+}
+
+void Navigation::deleteglofcn()
+{
+  if (_nav.glo_fcn)
+  {
+    free(_nav.glo_fcn);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocatepcv(int n)
+{
+  if (_nav.pcvs)
+  {
+    _nav.pcvs = (pcv_t *)realloc(_nav.pcvs, n * sizeof(pcv_t));
+  }
+  
+  else
+  {
+    _nav.pcvs = (pcv_t*) malloc(n * sizeof(pcv_t));
+  }
+}
+
+void Navigation::deletepcv()
+{
+  if (_nav.pcvs)
+  {
+    free(_nav.pcvs);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
+void Navigation::allocatesbsion(int n)
+{
+  if (_nav.sbsion)
+  {
+    _nav.sbsion = (sbsion_t *)realloc(_nav.sbsion, n * sizeof(sbsion_t));
+  }
+  
+  else
+  {
+    _nav.sbsion = (sbsion_t*) malloc(n * sizeof(sbsion_t));
+  }
+}
+
+void Navigation::deletesbsion()
+{
+  if (_nav.sbsion)
+  {
+    free(_nav.sbsion);
+  }
+
+  else
+  {
+    // Do nothing
+  }
+}
+
diff --git a/src/observations.cpp b/src/observations.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ddd321c0dcaa9ef3f2e219dbbc13b7135ab0c31f
--- /dev/null
+++ b/src/observations.cpp
@@ -0,0 +1,35 @@
+#include "../include/observations.h"
+
+using namespace GNSSUtils;
+
+
+Observations::Observations()
+{
+
+}
+
+Observations::~Observations()
+{
+  this->_obsVector.erase(_obsVector.begin(), _obsVector.end());
+}
+
+void Observations::clearObservations()
+{
+  this->_obsVector.clear();
+}
+
+void Observations::pushObservation(obsd_t obs)
+{
+  this->_obsVector.push_back(obs);
+}
+
+std::vector<obsd_t> Observations::getObservations()
+{
+  return this->_obsVector;
+}
+
+
+
+
+
+