diff --git a/src/algorithms/PVT/adapters/CMakeLists.txt b/src/algorithms/PVT/adapters/CMakeLists.txt
index 954d057bc..538a7ddcf 100644
--- a/src/algorithms/PVT/adapters/CMakeLists.txt
+++ b/src/algorithms/PVT/adapters/CMakeLists.txt
@@ -31,13 +31,11 @@ add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
 
 target_link_libraries(pvt_adapters
     PUBLIC
-        Armadillo::armadillo
-        Gnuradio::runtime
         pvt_gr_blocks
-        pvt_libs
         core_system_parameters
     PRIVATE
-        Boost::serialization
+        gnss_sdr_flags
+        pvt_libs
 )
 
 target_include_directories(pvt_adapters
diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 61b243633..7491968a1 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -33,16 +33,12 @@
 #include "configuration_interface.h"
 #include "gnss_sdr_flags.h"
 #include "pvt_conf.h"
-#include <boost/archive/xml_iarchive.hpp>
-#include <boost/archive/xml_oarchive.hpp>
-#include <boost/serialization/map.hpp>
 #include <glog/logging.h>
 #if OLD_BOOST
 #include <boost/math/common_factor_rt.hpp>
 namespace bc = boost::math;
 #else
 #include <boost/integer/common_factor_rt.hpp>
-#include <utility>
 namespace bc = boost::integer;
 #endif
 
@@ -50,7 +46,7 @@ namespace bc = boost::integer;
 using google::LogMessage;
 
 
-RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
+Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
     const std::string& role,
     unsigned int in_streams,
     unsigned int out_streams) : role_(role),
@@ -724,13 +720,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
 }
 
 
-RtklibPvt::~RtklibPvt()
+Rtklib_Pvt::~Rtklib_Pvt()
 {
     rtkfree(&rtk);
 }
 
 
-bool RtklibPvt::get_latest_PVT(double* longitude_deg,
+bool Rtklib_Pvt::get_latest_PVT(double* longitude_deg,
     double* latitude_deg,
     double* height_m,
     double* ground_speed_kmh,
@@ -746,37 +742,37 @@ bool RtklibPvt::get_latest_PVT(double* longitude_deg,
 }
 
 
-void RtklibPvt::clear_ephemeris()
+void Rtklib_Pvt::clear_ephemeris()
 {
     pvt_->clear_ephemeris();
 }
 
 
-std::map<int, Gps_Ephemeris> RtklibPvt::get_gps_ephemeris() const
+std::map<int, Gps_Ephemeris> Rtklib_Pvt::get_gps_ephemeris() const
 {
     return pvt_->get_gps_ephemeris_map();
 }
 
 
-std::map<int, Galileo_Ephemeris> RtklibPvt::get_galileo_ephemeris() const
+std::map<int, Galileo_Ephemeris> Rtklib_Pvt::get_galileo_ephemeris() const
 {
     return pvt_->get_galileo_ephemeris_map();
 }
 
 
-std::map<int, Gps_Almanac> RtklibPvt::get_gps_almanac() const
+std::map<int, Gps_Almanac> Rtklib_Pvt::get_gps_almanac() const
 {
     return pvt_->get_gps_almanac_map();
 }
 
 
-std::map<int, Galileo_Almanac> RtklibPvt::get_galileo_almanac() const
+std::map<int, Galileo_Almanac> Rtklib_Pvt::get_galileo_almanac() const
 {
     return pvt_->get_galileo_almanac_map();
 }
 
 
-void RtklibPvt::connect(gr::top_block_sptr top_block)
+void Rtklib_Pvt::connect(gr::top_block_sptr top_block)
 {
     if (top_block)
         { /* top_block is not null */
@@ -786,7 +782,7 @@ void RtklibPvt::connect(gr::top_block_sptr top_block)
 }
 
 
-void RtklibPvt::disconnect(gr::top_block_sptr top_block)
+void Rtklib_Pvt::disconnect(gr::top_block_sptr top_block)
 {
     if (top_block)
         { /* top_block is not null */
@@ -795,13 +791,13 @@ void RtklibPvt::disconnect(gr::top_block_sptr top_block)
 }
 
 
-gr::basic_block_sptr RtklibPvt::get_left_block()
+gr::basic_block_sptr Rtklib_Pvt::get_left_block()
 {
     return pvt_;
 }
 
 
-gr::basic_block_sptr RtklibPvt::get_right_block()
+gr::basic_block_sptr Rtklib_Pvt::get_right_block()
 {
     return nullptr;  // this is a sink, nothing downstream
 }
diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.h b/src/algorithms/PVT/adapters/rtklib_pvt.h
index 41235471b..ace356712 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.h
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.h
@@ -32,8 +32,14 @@
 #ifndef GNSS_SDR_RTKLIB_PVT_H_
 #define GNSS_SDR_RTKLIB_PVT_H_
 
+#include "galileo_almanac.h"
+#include "galileo_ephemeris.h"
+#include "gps_almanac.h"
+#include "gps_ephemeris.h"
 #include "pvt_interface.h"
+#include "rtklib.h"
 #include "rtklib_pvt_cc.h"
+#include <map>
 #include <string>
 
 
@@ -42,15 +48,15 @@ class ConfigurationInterface;
 /*!
  * \brief This class implements a PvtInterface for the RTKLIB PVT block
  */
-class RtklibPvt : public PvtInterface
+class Rtklib_Pvt : public PvtInterface
 {
 public:
-    RtklibPvt(ConfigurationInterface* configuration,
+    Rtklib_Pvt(ConfigurationInterface* configuration,
         const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 
-    virtual ~RtklibPvt();
+    virtual ~Rtklib_Pvt();
 
     inline std::string role() override
     {
diff --git a/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt b/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
index 6c36caa24..d59bac863 100644
--- a/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
@@ -30,15 +30,18 @@ add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
 
 target_link_libraries(pvt_gr_blocks
     PUBLIC
-        Boost::date_time
-        Gnuradio::runtime
         pvt_libs
+        core_system_parameters
+        Boost::date_time
+        Gnuradio::pmt
+        Gnuradio::runtime
     PRIVATE
+        algorithms_libs
         Gflags::gflags
         Glog::glog
         Boost::filesystem
         Boost::system
-        core_system_parameters
+        Boost::serialization
 )
 
 if(ENABLE_CLANG_TIDY)
@@ -50,11 +53,6 @@ if(ENABLE_CLANG_TIDY)
     endif()
 endif()
 
-target_include_directories(pvt_gr_blocks
-    PUBLIC
-        ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
-)
-
 if(Boost_VERSION LESS 105800)
     target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
 endif()
@@ -62,5 +60,4 @@ endif()
 set_property(TARGET pvt_gr_blocks
     APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-        $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/core/system_parameters>
 )
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index fcf93d12f..c41a1989d 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -30,7 +30,6 @@
 
 #include "rtklib_pvt_cc.h"
 #include "display.h"
-#include "galileo_almanac.h"
 #include "galileo_almanac_helper.h"
 #include "gnss_sdr_create_directory.h"
 #include "pvt_conf.h"
@@ -44,8 +43,8 @@
 #include <gnuradio/io_signature.h>
 #include <algorithm>
 #include <exception>
+#include <fstream>
 #include <iostream>
-#include <map>
 #include <stdexcept>
 #if OLD_BOOST
 #include <boost/math/common_factor_rt.hpp>
@@ -68,267 +67,6 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
 }
 
 
-void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
-{
-    try
-        {
-            // ************* GPS telemetry *****************
-            if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>))
-                {
-                    // ### GPS EPHEMERIS ###
-                    std::shared_ptr<Gps_Ephemeris> gps_eph;
-                    gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
-                    DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
-                               << gps_eph->i_satellite_PRN << " (Block "
-                               << gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
-                               << "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
-                               << gps_eph->i_GPS_week;
-                    // update/insert new ephemeris record to the global ephemeris map
-                    d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>))
-                {
-                    // ### GPS IONO ###
-                    std::shared_ptr<Gps_Iono> gps_iono;
-                    gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
-                    d_pvt_solver->gps_iono = *gps_iono;
-                    DLOG(INFO) << "New IONO record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>))
-                {
-                    // ### GPS UTC MODEL ###
-                    std::shared_ptr<Gps_Utc_Model> gps_utc_model;
-                    gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
-                    d_pvt_solver->gps_utc_model = *gps_utc_model;
-                    DLOG(INFO) << "New UTC record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Ephemeris>))
-                {
-                    // ### GPS CNAV message ###
-                    std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris;
-                    gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
-                    // update/insert new ephemeris record to the global ephemeris map
-                    d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
-                    DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
-                {
-                    // ### GPS CNAV IONO ###
-                    std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
-                    gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
-                    d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
-                    DLOG(INFO) << "New CNAV IONO record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
-                {
-                    // ### GPS CNAV UTC MODEL ###
-                    std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
-                    gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
-                    d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
-                    DLOG(INFO) << "New CNAV UTC record has arrived ";
-                }
-
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>))
-                {
-                    // ### GPS ALMANAC ###
-                    std::shared_ptr<Gps_Almanac> gps_almanac;
-                    gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
-                    d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
-                    DLOG(INFO) << "New GPS almanac record has arrived ";
-                }
-
-            // **************** Galileo telemetry ********************
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
-                {
-                    // ### Galileo EPHEMERIS ###
-                    std::shared_ptr<Galileo_Ephemeris> galileo_eph;
-                    galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
-                    // insert new ephemeris record
-                    DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
-                               << ", GALILEO Week Number =" << galileo_eph->WN_5
-                               << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
-                    // update/insert new ephemeris record to the global ephemeris map
-                    d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
-                {
-                    // ### Galileo IONO ###
-                    std::shared_ptr<Galileo_Iono> galileo_iono;
-                    galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
-                    d_pvt_solver->galileo_iono = *galileo_iono;
-                    DLOG(INFO) << "New IONO record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>))
-                {
-                    // ### Galileo UTC MODEL ###
-                    std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
-                    galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
-                    d_pvt_solver->galileo_utc_model = *galileo_utc_model;
-                    DLOG(INFO) << "New UTC record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>))
-                {
-                    // ### Galileo Almanac ###
-                    std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper;
-                    galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
-
-                    Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
-                    Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
-                    Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
-
-                    if (sv1.i_satellite_PRN != 0)
-                        {
-                            d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
-                        }
-                    if (sv2.i_satellite_PRN != 0)
-                        {
-                            d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
-                        }
-                    if (sv3.i_satellite_PRN != 0)
-                        {
-                            d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
-                        }
-                    DLOG(INFO) << "New Galileo Almanac data have arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
-                {
-                    // ### Galileo Almanac ###
-                    std::shared_ptr<Galileo_Almanac> galileo_alm;
-                    galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
-                    // update/insert new almanac record to the global almanac map
-                    d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
-                }
-
-            // **************** GLONASS GNAV Telemetry **************************
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
-                {
-                    // ### GLONASS GNAV EPHEMERIS ###
-                    std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
-                    glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
-                    // TODO Add GLONASS with gps week number and tow,
-                    // insert new ephemeris record
-                    DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
-                               << ", Week Number =" << glonass_gnav_eph->d_WN
-                               << " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
-                               << " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
-                    // update/insert new ephemeris record to the global ephemeris map
-                    d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
-                {
-                    // ### GLONASS GNAV UTC MODEL ###
-                    std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
-                    glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
-                    d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
-                    DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
-                {
-                    // ### GLONASS GNAV Almanac ###
-                    std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
-                    glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
-                    d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
-                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
-                               << ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
-                }
-
-            // ************* BeiDou telemetry *****************
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>))
-                {
-                    // ### Beidou EPHEMERIS ###
-                    std::shared_ptr<Beidou_Dnav_Ephemeris> bds_dnav_eph;
-                    bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
-                    DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
-                               << bds_dnav_eph->i_satellite_PRN << " (Block "
-                               << bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
-                               << "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
-                               << bds_dnav_eph->i_BEIDOU_week;
-                    // update/insert new ephemeris record to the global ephemeris map
-                    d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
-                {
-                    // ### BeiDou IONO ###
-                    std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
-                    bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
-                    d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
-                    DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
-                {
-                    // ### GPS UTC MODEL ###
-                    std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
-                    bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
-                    d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
-                    DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
-                }
-            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
-                {
-                    // ### GPS ALMANAC ###
-                    std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
-                    bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
-                    d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
-                    DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
-                }
-            else
-                {
-                    LOG(WARNING) << "msg_handler_telemetry unknown object type!";
-                }
-        }
-    catch (boost::bad_any_cast& e)
-        {
-            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
-        }
-}
-
-
-std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_gps_ephemeris_map() const
-{
-    return d_pvt_solver->gps_ephemeris_map;
-}
-
-
-std::map<int, Gps_Almanac> rtklib_pvt_cc::get_gps_almanac_map() const
-{
-    return d_pvt_solver->gps_almanac_map;
-}
-
-
-std::map<int, Galileo_Ephemeris> rtklib_pvt_cc::get_galileo_ephemeris_map() const
-{
-    return d_pvt_solver->galileo_ephemeris_map;
-}
-
-
-std::map<int, Galileo_Almanac> rtklib_pvt_cc::get_galileo_almanac_map() const
-{
-    return d_pvt_solver->galileo_almanac_map;
-}
-
-
-std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_cc::get_beidou_dnav_ephemeris_map() const
-{
-    return d_pvt_solver->beidou_dnav_ephemeris_map;
-}
-
-
-std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_cc::get_beidou_dnav_almanac_map() const
-{
-    return d_pvt_solver->beidou_dnav_almanac_map;
-}
-
-
-void rtklib_pvt_cc::clear_ephemeris()
-{
-    d_pvt_solver->gps_ephemeris_map.clear();
-    d_pvt_solver->gps_almanac_map.clear();
-    d_pvt_solver->galileo_ephemeris_map.clear();
-    d_pvt_solver->galileo_almanac_map.clear();
-    d_pvt_solver->beidou_dnav_ephemeris_map.clear();
-    d_pvt_solver->beidou_dnav_almanac_map.clear();
-}
-
-
 rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
     const Pvt_Conf& conf_,
     const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
@@ -563,9 +301,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
             xml_base_path = xml_base_path + boost::filesystem::path::preferred_separator;
         }
 
-
     d_rx_time = 0.0;
-
     d_last_status_print_seg = 0;
 
     // PVT MONITOR
@@ -1147,6 +883,267 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
 }
 
 
+void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
+{
+    try
+        {
+            // ************* GPS telemetry *****************
+            if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>))
+                {
+                    // ### GPS EPHEMERIS ###
+                    std::shared_ptr<Gps_Ephemeris> gps_eph;
+                    gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
+                    DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
+                               << gps_eph->i_satellite_PRN << " (Block "
+                               << gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
+                               << "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
+                               << gps_eph->i_GPS_week;
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>))
+                {
+                    // ### GPS IONO ###
+                    std::shared_ptr<Gps_Iono> gps_iono;
+                    gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
+                    d_pvt_solver->gps_iono = *gps_iono;
+                    DLOG(INFO) << "New IONO record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>))
+                {
+                    // ### GPS UTC MODEL ###
+                    std::shared_ptr<Gps_Utc_Model> gps_utc_model;
+                    gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
+                    d_pvt_solver->gps_utc_model = *gps_utc_model;
+                    DLOG(INFO) << "New UTC record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Ephemeris>))
+                {
+                    // ### GPS CNAV message ###
+                    std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris;
+                    gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
+                    DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
+                {
+                    // ### GPS CNAV IONO ###
+                    std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
+                    gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
+                    d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
+                    DLOG(INFO) << "New CNAV IONO record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
+                {
+                    // ### GPS CNAV UTC MODEL ###
+                    std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
+                    gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
+                    d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
+                    DLOG(INFO) << "New CNAV UTC record has arrived ";
+                }
+
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>))
+                {
+                    // ### GPS ALMANAC ###
+                    std::shared_ptr<Gps_Almanac> gps_almanac;
+                    gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
+                    d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
+                    DLOG(INFO) << "New GPS almanac record has arrived ";
+                }
+
+            // **************** Galileo telemetry ********************
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
+                {
+                    // ### Galileo EPHEMERIS ###
+                    std::shared_ptr<Galileo_Ephemeris> galileo_eph;
+                    galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
+                    // insert new ephemeris record
+                    DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
+                               << ", GALILEO Week Number =" << galileo_eph->WN_5
+                               << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
+                {
+                    // ### Galileo IONO ###
+                    std::shared_ptr<Galileo_Iono> galileo_iono;
+                    galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
+                    d_pvt_solver->galileo_iono = *galileo_iono;
+                    DLOG(INFO) << "New IONO record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>))
+                {
+                    // ### Galileo UTC MODEL ###
+                    std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
+                    galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
+                    d_pvt_solver->galileo_utc_model = *galileo_utc_model;
+                    DLOG(INFO) << "New UTC record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>))
+                {
+                    // ### Galileo Almanac ###
+                    std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper;
+                    galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
+
+                    Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
+                    Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
+                    Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
+
+                    if (sv1.i_satellite_PRN != 0)
+                        {
+                            d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
+                        }
+                    if (sv2.i_satellite_PRN != 0)
+                        {
+                            d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
+                        }
+                    if (sv3.i_satellite_PRN != 0)
+                        {
+                            d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
+                        }
+                    DLOG(INFO) << "New Galileo Almanac data have arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
+                {
+                    // ### Galileo Almanac ###
+                    std::shared_ptr<Galileo_Almanac> galileo_alm;
+                    galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
+                    // update/insert new almanac record to the global almanac map
+                    d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
+                }
+
+            // **************** GLONASS GNAV Telemetry **************************
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
+                {
+                    // ### GLONASS GNAV EPHEMERIS ###
+                    std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
+                    glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
+                    // TODO Add GLONASS with gps week number and tow,
+                    // insert new ephemeris record
+                    DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
+                               << ", Week Number =" << glonass_gnav_eph->d_WN
+                               << " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
+                               << " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
+                {
+                    // ### GLONASS GNAV UTC MODEL ###
+                    std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
+                    glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
+                    d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
+                    DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
+                {
+                    // ### GLONASS GNAV Almanac ###
+                    std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
+                    glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
+                    d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
+                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
+                               << ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
+                }
+
+            // ************* BeiDou telemetry *****************
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>))
+                {
+                    // ### Beidou EPHEMERIS ###
+                    std::shared_ptr<Beidou_Dnav_Ephemeris> bds_dnav_eph;
+                    bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
+                    DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
+                               << bds_dnav_eph->i_satellite_PRN << " (Block "
+                               << bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
+                               << "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
+                               << bds_dnav_eph->i_BEIDOU_week;
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
+                {
+                    // ### BeiDou IONO ###
+                    std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
+                    bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
+                    d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
+                    DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
+                {
+                    // ### BeiDou UTC MODEL ###
+                    std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
+                    bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
+                    d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
+                    DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
+                }
+            else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
+                {
+                    // ### BeiDou ALMANAC ###
+                    std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
+                    bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
+                    d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
+                    DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
+                }
+            else
+                {
+                    LOG(WARNING) << "msg_handler_telemetry unknown object type!";
+                }
+        }
+    catch (boost::bad_any_cast& e)
+        {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+        }
+}
+
+
+std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_gps_ephemeris_map() const
+{
+    return d_pvt_solver->gps_ephemeris_map;
+}
+
+
+std::map<int, Gps_Almanac> rtklib_pvt_cc::get_gps_almanac_map() const
+{
+    return d_pvt_solver->gps_almanac_map;
+}
+
+
+std::map<int, Galileo_Ephemeris> rtklib_pvt_cc::get_galileo_ephemeris_map() const
+{
+    return d_pvt_solver->galileo_ephemeris_map;
+}
+
+
+std::map<int, Galileo_Almanac> rtklib_pvt_cc::get_galileo_almanac_map() const
+{
+    return d_pvt_solver->galileo_almanac_map;
+}
+
+
+std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_cc::get_beidou_dnav_ephemeris_map() const
+{
+    return d_pvt_solver->beidou_dnav_ephemeris_map;
+}
+
+
+std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_cc::get_beidou_dnav_almanac_map() const
+{
+    return d_pvt_solver->beidou_dnav_almanac_map;
+}
+
+
+void rtklib_pvt_cc::clear_ephemeris()
+{
+    d_pvt_solver->gps_ephemeris_map.clear();
+    d_pvt_solver->gps_almanac_map.clear();
+    d_pvt_solver->galileo_ephemeris_map.clear();
+    d_pvt_solver->galileo_almanac_map.clear();
+    d_pvt_solver->beidou_dnav_ephemeris_map.clear();
+    d_pvt_solver->beidou_dnav_almanac_map.clear();
+}
+
+
 bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
 {
     return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
@@ -1215,7 +1212,7 @@ bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
 }
 
 
-std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim)
+std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim) const
 {
     std::vector<std::string> v;
     std::stringstream ss(s);
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
index 23ecb0206..dbe2fe3eb 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
@@ -31,7 +31,13 @@
 #ifndef GNSS_SDR_RTKLIB_PVT_CC_H
 #define GNSS_SDR_RTKLIB_PVT_CC_H
 
+#include "beidou_dnav_almanac.h"
+#include "beidou_dnav_ephemeris.h"
+#include "galileo_almanac.h"
+#include "galileo_ephemeris.h"
 #include "geojson_printer.h"
+#include "gnss_synchro.h"
+#include "gps_almanac.h"
 #include "gps_ephemeris.h"
 #include "gpx_printer.h"
 #include "kml_printer.h"
@@ -44,14 +50,17 @@
 #include <boost/date_time/gregorian/gregorian.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <gnuradio/sync_block.h>
+#include <pmt/pmt.h>
 #include <chrono>
 #include <cstdint>
-#include <fstream>
+#include <map>
+#include <memory>
 #include <string>
 #include <sys/ipc.h>
 #include <sys/msg.h>
 #include <sys/types.h>
 #include <utility>
+#include <vector>
 
 
 class rtklib_pvt_cc;
@@ -146,7 +155,7 @@ private:
 
     bool flag_monitor_pvt_enabled;
     std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
-    std::vector<std::string> split_string(const std::string& s, char delim);
+    std::vector<std::string> split_string(const std::string& s, char delim) const;
 
 public:
     rtklib_pvt_cc(uint32_t nchannels,
diff --git a/src/algorithms/libs/rtklib/rtklib.h b/src/algorithms/libs/rtklib/rtklib.h
index 55ba3ac03..f4305a75a 100644
--- a/src/algorithms/libs/rtklib/rtklib.h
+++ b/src/algorithms/libs/rtklib/rtklib.h
@@ -60,7 +60,6 @@
 #include <cmath>
 #include <cstdarg>
 #include <cstdint>
-#include <cstdio>
 #include <cstdlib>
 #include <netinet/in.h>
 #include <pthread.h>
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index a833bfefe..4d3b9f315 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@@ -352,7 +352,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
                                     corr_value += d_preambles_symbols[i];
                                 }
                         }
-                    i += 1;
+                    i++;
                 }
         }
 
@@ -480,6 +480,5 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
             return 1;
         }
 
-
     return 0;
 }
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index dce01a732..a87e5bbba 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -1802,7 +1802,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
     // PVT -------------------------------------------------------------------------
     else if ((implementation == "RTKLIB_PVT") || (implementation == "GPS_L1_CA_PVT") || (implementation == "Galileo_E1_PVT") || (implementation == "Hybrid_PVT"))
         {
-            std::unique_ptr<GNSSBlockInterface> block_(new RtklibPvt(configuration.get(), role, in_streams,
+            std::unique_ptr<GNSSBlockInterface> block_(new Rtklib_Pvt(configuration.get(), role, in_streams,
                 out_streams));
             block = std::move(block_);
         }