diff --git a/include/gnss_utils/TDCP.h b/include/gnss_utils/TDCP.h
index 00f70f065ee7d76372e8f72848051bcca6e8a994..ab8330c0903f5f480ba7339e2bddcd8464425c2a 100644
--- a/include/gnss_utils/TDCP.h
+++ b/include/gnss_utils/TDCP.h
@@ -16,7 +16,7 @@
 #include "gnss_utils/observations.h"
 #include "gnss_utils/navigation.h"
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 struct TDCPParams
 {
@@ -81,6 +81,6 @@ void filterCommonSatellites(Observations&                   common_obs_r,
                             const TDCPParams&               sd_params,
                             const prcopt_t&                 opt);
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 
 #endif /* INCLUDE_GNSS_UTILS_TDCP_H_ */
diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h
index 20f65a0ffb1e111a5ba68f5a1a4f22693e73b426..beb7299492dbcb554889626783c01fd3b7292c61 100644
--- a/include/gnss_utils/navigation.h
+++ b/include/gnss_utils/navigation.h
@@ -9,7 +9,7 @@ extern "C" {
 #include "rtklib.h"
 }
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 class Navigation;
 typedef std::shared_ptr<Navigation>       NavigationPtr;
@@ -361,5 +361,5 @@ inline void Navigation::freeNavArrays(nav_t& nav)
   freeFcb(nav);
 }
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 #endif
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index 7fb34baa11663cccc738b0a127c63a3b9058203e..fd4a9214460dc1f49a8dde2949e8adffa6aee281 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -13,7 +13,7 @@ extern "C" {
 #include "rtklib.h"
 }
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 class Observations;
 typedef std::shared_ptr<Observations>       ObservationsPtr;
@@ -131,5 +131,5 @@ inline bool Observations::hasSatellite(const unsigned char& i) const
   return sat_2_idx_.count(i) != 0;
 }
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 #endif // INCLUDE_GNSS_UTILS_OBSERVATIONS_H_
diff --git a/include/gnss_utils/ublox_raw.h b/include/gnss_utils/ublox_raw.h
index 1c36ba27ab5b7eb107ee976c4c0061c4c04fae16..b860abf0c132ae6e8284e52b1f4bb311820756b0 100644
--- a/include/gnss_utils/ublox_raw.h
+++ b/include/gnss_utils/ublox_raw.h
@@ -4,7 +4,7 @@
 #include "gnss_utils/observations.h"
 #include "gnss_utils/navigation.h"
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 enum RawDataType : int
 {
@@ -44,12 +44,12 @@ private:
   void updateObservations();
 };
 
-inline const GNSSUtils::Observations& UBloxRaw::getObservations()
+inline const GnssUtils::Observations& UBloxRaw::getObservations()
 {
   return obs_;
 }
 
-inline const GNSSUtils::Navigation& UBloxRaw::getNavigation()
+inline const GnssUtils::Navigation& UBloxRaw::getNavigation()
 {
   return nav_;
 }
@@ -59,6 +59,6 @@ inline RawDataType UBloxRaw::getRawDataType() const
   return raw_data_type_;
 }
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 
 #endif
diff --git a/include/gnss_utils/utils/rcv_position.h b/include/gnss_utils/utils/rcv_position.h
index 55fbd80212233df121e339b21769ccb245597a95..77ec4e77ef3e8d3436601341b3e8868d6018433b 100644
--- a/include/gnss_utils/utils/rcv_position.h
+++ b/include/gnss_utils/utils/rcv_position.h
@@ -20,7 +20,7 @@ extern "C" {
 #include "rtklib.h"
 }
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 struct ComputePosOutput
 {
@@ -64,5 +64,5 @@ int estposOwn(const obsd_t*   obs,
               int*            vsat,
               double*         resp,
               char*           msg);
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 #endif  // INCLUDE_GNSS_UTILS_UTILS_RCV_POSITION_H_
\ No newline at end of file
diff --git a/include/gnss_utils/utils/sat_position.h b/include/gnss_utils/utils/sat_position.h
index 2edb56c3a751b373a1ed26ddac76fc96250e2648..376d406a2a1f13b32ce7122d293df408e98085d9 100644
--- a/include/gnss_utils/utils/sat_position.h
+++ b/include/gnss_utils/utils/sat_position.h
@@ -20,7 +20,7 @@ extern "C" {
 #include "rtklib.h"
 }
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 double computeSatElevation(const Eigen::Vector3d& receiver_ecef, const Eigen::Vector3d& sat_ecef);
 
@@ -28,5 +28,5 @@ void computeSatellitesPositions(const Observations&             obs,
                                 const Navigation&               nav,
                                 const prcopt_t&                 opt,
                                 std::map<int, Eigen::Vector3d>& sats_pos);
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 #endif  // INCLUDE_GNSS_UTILS_UTILS_SAT_POSITION_H_
\ No newline at end of file
diff --git a/include/gnss_utils/utils/transformations.h b/include/gnss_utils/utils/transformations.h
index 494d5ece16e83e8c870655e947588f4ceb782ec3..ebed329289ac0d58e6555347a71634565dc108e9 100644
--- a/include/gnss_utils/utils/transformations.h
+++ b/include/gnss_utils/utils/transformations.h
@@ -16,7 +16,7 @@ extern "C" {
 #include "rtklib.h"
 }
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 Eigen::Vector3d ecefToLatLonAlt(const Eigen::Vector3d& _ecef);
 Eigen::Vector3d latLonAltToEcef(const Eigen::Vector3d& _latlon);
@@ -30,5 +30,5 @@ void computeEnuEcefFromLatLonAlt(const Eigen::Vector3d& _ENU_latlonalt,
                                  Eigen::Matrix3d&       R_ENU_ECEF,
                                  Eigen::Vector3d&       t_ENU_ECEF);
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 #endif  // INCLUDE_GNSS_UTILS_UTILS_TRANSFORMATIONS_H_
\ No newline at end of file
diff --git a/include/gnss_utils/utils/utils.h b/include/gnss_utils/utils/utils.h
index faa390ae290e2281cdab9a37f60633414dae048a..cae7d5c76896bcfbb3b3cb2cda2bd9882bcf8a0c 100644
--- a/include/gnss_utils/utils/utils.h
+++ b/include/gnss_utils/utils/utils.h
@@ -7,13 +7,13 @@
 #include <string>
 
 #define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
-#define GNSSUTILS_MSG "--GNSSUtils--"
+#define GNSSUTILS_MSG "--GnssUtils--"
 
 extern "C" {
 #include "rtklib.h"
 }
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 void print(std::string& _msg);
 void printArray(std::string _name, int* _array, int size);
@@ -40,6 +40,6 @@ bool equalTime(const gtime_t& time1, const gtime_t& time2);
 bool equalObservations(const obsd_t& obs1, const obsd_t& obs2);
 bool equalObservations(const obs_t& obs1, const obs_t& obs2);
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
 
 #endif
\ No newline at end of file
diff --git a/src/TDCP.cpp b/src/TDCP.cpp
index 66e5a10997152c4544c7b6d1e5eaefa2cfa6028f..e477aacaf88b31ce054c5657cb21aafd409610c7 100644
--- a/src/TDCP.cpp
+++ b/src/TDCP.cpp
@@ -7,7 +7,7 @@
 
 #include "../include/gnss_utils/TDCP.h"
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 bool TDCP(const Observations& obs_r,
           Navigation&         nav_r,
@@ -576,4 +576,4 @@ void filterCommonSatellites(Observations&                   common_obs_r,
   // std::cout << "final size: " << common_obs_k.size() << std::endl;
 }
 
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 10520e09738af7396ba748bfea0b75bc6e6771be..1a59e2d85c7b3b41404f808283866c07703ec8a1 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -12,7 +12,7 @@ extern "C" {
 #include "../deps/RTKLIB/src/rinex.c"
 }
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
 int main(int argc, char* argv[])
 {
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 398d0a86f275b64f4d469a2bce0ddbdf3dba6172..66b861b71dc5587eb3bbb80b2dee0f43084ad40b 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -1,6 +1,6 @@
 #include "gnss_utils/navigation.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
 Navigation::Navigation()
 {
diff --git a/src/observations.cpp b/src/observations.cpp
index e68fb8d216b9294de2d22232fe92cfb5d4a70ec7..64fa7508b2075720f81234e93b3e8b45d7e5496d 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -1,6 +1,6 @@
 #include "gnss_utils/observations.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
 Observations::Observations()
 {
@@ -159,7 +159,7 @@ void Observations::removeObservationBySat(const int& _sat)
 void Observations::print(obsd_t& _obs)
 {
   std::string msg = "Observation of satellite #" + std::to_string(_obs.sat);
-  GNSSUtils::print(msg);
+  GnssUtils::print(msg);
   std::cout << "Time [s]: " << _obs.time.time << " + " << _obs.time.sec << "\n";
   printArray("SNR: ", _obs.SNR, ARRAY_SIZE(_obs.SNR));
   printArray("LLI: ", _obs.LLI, ARRAY_SIZE(_obs.LLI));
diff --git a/src/ublox_raw.cpp b/src/ublox_raw.cpp
index 9cc2442d19ddaefe97e7741878a21a565fffbb50..7c12df5f841df9fa312dd20bc02e94af93c80e5e 100644
--- a/src/ublox_raw.cpp
+++ b/src/ublox_raw.cpp
@@ -1,6 +1,6 @@
 #include "gnss_utils/ublox_raw.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
 UBloxRaw::UBloxRaw() : raw_data_type_(NO)
 {
diff --git a/src/utils/rcv_position.cpp b/src/utils/rcv_position.cpp
index 32ced1767ae1bf991cc7f92b0f1c21966072d602..590c91d3183a94ba38cd413998c2dbd926c81c22 100644
--- a/src/utils/rcv_position.cpp
+++ b/src/utils/rcv_position.cpp
@@ -7,12 +7,12 @@
 
 #include "gnss_utils/utils/rcv_position.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
-namespace GNSSUtils
+namespace GnssUtils
 {
-ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
-                            GNSSUtils::Navigation&         _navigation,
+ComputePosOutput computePos(const GnssUtils::Observations& _observations,
+                            GnssUtils::Navigation&         _navigation,
                             const prcopt_t&                _prcopt)
 {
   // Remove duplicated satellites
@@ -24,7 +24,7 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
   // Remove duplicated satellites
   _navigation.uniqueNavigation();
 
-  GNSSUtils::ComputePosOutput output;
+  GnssUtils::ComputePosOutput output;
   sol_t                       sol;
   sol = { { 0 } };
 
@@ -59,8 +59,8 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
   return output;
 }
 
-// ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
-//                                      GNSSUtils::Navigation & _navigation,
+// ComputePosOutput computePosOwn(const GnssUtils::Observations & _observations,
+//                                      GnssUtils::Navigation & _navigation,
 //                                      const prcopt_t & _prcopt)
 //   {
 
@@ -70,7 +70,7 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
 //   // Define error msg
 //   char msg[128] = "";
 
-//   GNSSUtils::ComputePosOutput output;
+//   GnssUtils::ComputePosOutput output;
 //   sol_t sol;
 //   sol = {{0}};
 
@@ -261,4 +261,4 @@ int estposOwn(const obsd_t*   obs,
 
   return 0;
 }
-}  // namespace GNSSUtils
\ No newline at end of file
+}  // namespace GnssUtils
\ No newline at end of file
diff --git a/src/utils/sat_position.cpp b/src/utils/sat_position.cpp
index 287fcdfc1a6a27785a4e0a3955704314c4d802db..750441eb04f8e94d998664dda1c121985248a678 100644
--- a/src/utils/sat_position.cpp
+++ b/src/utils/sat_position.cpp
@@ -7,9 +7,9 @@
 
 #include "gnss_utils/utils/sat_position.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 double computeSatElevation(const Eigen::Vector3d& receiver_ecef, const Eigen::Vector3d& sat_ecef)
 {
@@ -60,4 +60,4 @@ void computeSatellitesPositions(const Observations&             obs,
     // sats_pos[obs.getObservationByIdx(i).sat].transpose() << std::endl;
   }
 }
-}  // namespace GNSSUtils
\ No newline at end of file
+}  // namespace GnssUtils
\ No newline at end of file
diff --git a/src/utils/transformations.cpp b/src/utils/transformations.cpp
index c12f2db6219acdb3ac40013abd636edaead189f8..38097f55678579cb819ccf01ab0fc1a0cbbd6bfe 100644
--- a/src/utils/transformations.cpp
+++ b/src/utils/transformations.cpp
@@ -1,8 +1,8 @@
 #include "gnss_utils/utils/transformations.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
-namespace GNSSUtils
+namespace GnssUtils
 {
   
 Eigen::Vector3d ecefToLatLonAlt(const Eigen::Vector3d& _ecef)
@@ -101,7 +101,7 @@ void computeEnuEcefFromEcef(const Eigen::Vector3d& _t_ECEF_ENU,
   //
   //  t_ENU_ECEF = -R_ENU_ECEF*_t_ECEF_ENU;
 
-  Eigen::Vector3d ENU_lat_lon_alt = GNSSUtils::ecefToLatLonAlt(_t_ECEF_ENU);
+  Eigen::Vector3d ENU_lat_lon_alt = GnssUtils::ecefToLatLonAlt(_t_ECEF_ENU);
 
   double sLat = sin(ENU_lat_lon_alt(0));
   double cLat = cos(ENU_lat_lon_alt(0));
@@ -149,4 +149,4 @@ void computeEnuEcefFromLatLonAlt(const Eigen::Vector3d& _ENU_latlonalt,
   t_ENU_ECEF = -R_ENU_ECEF * t_ECEF_ENU;
 }
 
-}  // namespace GNSSUtils
\ No newline at end of file
+}  // namespace GnssUtils
\ No newline at end of file
diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp
index 5336b047d0b0901ac502de3f4d443e5868bc5168..48fca36152aec213fdc87756f423d8293374a6e8 100644
--- a/src/utils/utils.cpp
+++ b/src/utils/utils.cpp
@@ -1,6 +1,6 @@
 #include "gnss_utils/utils/utils.h"
 
-namespace GNSSUtils
+namespace GnssUtils
 {
 void print(std::string& _msg)
 {
@@ -117,4 +117,4 @@ bool equalObservations(const obs_t& obs1, const obs_t& obs2)
 
   return true;
 }
-}  // namespace GNSSUtils
+}  // namespace GnssUtils
diff --git a/test/gtest_observations.cpp b/test/gtest_observations.cpp
index 80158905aba3f9ec890a6fb2d4acd8829e806245..2726322b5c7bb4b63e7186a68ded8feb0f541922 100644
--- a/test/gtest_observations.cpp
+++ b/test/gtest_observations.cpp
@@ -1,7 +1,7 @@
 #include "gtest/utils_gtest.h"
 #include "gnss_utils/observations.h"
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
 std::string   rnx_file;
 obs_t         obs;
@@ -46,7 +46,7 @@ TEST(ObservationsTest, AddClearObservation)
 
 TEST(ObservationsTest, LoadFromRinex)
 {
-  // GNSSUtils utilities
+  // GnssUtils utilities
   Observations observations;
   observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
   observations.print();
diff --git a/test/gtest_transformations.cpp b/test/gtest_transformations.cpp
index 8984b1009d368b9160ae5c43b88b99d00e1b00ca..22f7831647c1b7ebd043de0e737459556f60a284 100644
--- a/test/gtest_transformations.cpp
+++ b/test/gtest_transformations.cpp
@@ -7,7 +7,7 @@ static double kSemiminorAxis = 6356752.3142;
 static double kFirstEccentricitySquared = 6.69437999014 * 0.001;
 static double kSecondEccentricitySquared = 6.73949674228 * 0.001;
 
-using namespace GNSSUtils;
+using namespace GnssUtils;
 
 TEST(TransformationsTest, ecefToLatLonAlt)
 {