RTKLIB ver. 2.4.2 Manual

RTKLIB ver. 2.4.2 Manual

Contents

April 29, 2013

1 Overview .............................................................................................................................................................. 1

2 User Requirements.............................................................................................................................................. 3 2.1 System Requirements ................................................................................................................................. 3 2.2 License .......................................................................................................................................................... 4

3 Instructions .......................................................................................................................................................... 5 3.1 Installation and Uninstallation .................................................................................................................. 5 3.2 Real-Time Positioning with RTKNAVI..................................................................................................... 7 3.3 Configure Input, Output and Log Streams for RTKNAVI................................................................... 22 3.4 Post-Processing Analysis with RTKPOST .............................................................................................. 29 3.5 Configure Positioning Options for RTKNAVI and RTKPOST ............................................................ 34 3.6 Convert Receiver Raw Data to RINEX with RTKCONV ..................................................................... 50 3.7 View and Plot Solutions with RTKPLOT ............................................................................................... 55 3.8 View and Plot Observation Data with RTKPLOT................................................................................. 69 3.9 Download GNSS Products and Data with RTKGET ............................................................................ 77 3.10 NTRIP Browser .......................................................................................................................................... 83 3.11 Use CUI APs of RTKLIB ........................................................................................................................... 86

4 Build APs or Develop User APs with RTKLIB .............................................................................................. 87 4.1 Rebuild GUI and CUI APs on Windows ................................................................................................ 87 4.2 Build CUI APs............................................................................................................................................ 88 4.3 Develop and Link User APs with RTKLIB............................................................................................. 89

Appendix A CUI Command References ........................................................................................................... 90 A.1 RTKRCV ..................................................................................................................................................... 90 A.2 RNX2RTKP................................................................................................................................................. 93 A.3 POS2KML ................................................................................................................................................... 95 A.4 CONVBIN .................................................................................................................................................. 96 A.5 STR2STR ..................................................................................................................................................... 99

Copyright (C) 2007-2013, T. Takasu. All rights reserved. i

Appendix B File Formats .................................................................................................................................. 101 B.1 Positioning Solution File......................................................................................................................... 101 B.2 SBAS Log File........................................................................................................................................... 104 B.3 Solution Status File.................................................................................................................................. 106 B.4 Configuration File ................................................................................................................................... 109 B.5 URL List File for GNSS Data.................................................................................................................. 112

Appendix C API References ............................................................................................................................. 114 Appendix D Files and Messages ...................................................................................................................... 122

D.1 Supported RINEX Files........................................................................................................................... 122 D.2 Supported Receiver Messages ............................................................................................................... 123 D.3 Supported Signal IDs/Observation Types ............................................................................................ 125 D.4 Default Priorities of Multiple Signals ................................................................................................... 127 D.5 Receiver Dependent Input Options ...................................................................................................... 128 Appendix E Models and Algorithms .............................................................................................................. 129 E.1 Time System ............................................................................................................................................. 131 E.2 Coordinates System ................................................................................................................................ 134 E.3 GNSS Signal Measurement Models ...................................................................................................... 137 E.4 GNSS Satellite Ephemerides and Clocks.............................................................................................. 142 E.5 Troposphere and Ionosphere Models ................................................................................................... 149 E.6 Single Point Positioning.......................................................................................................................... 154 E.7 Kinematic, Static and Moving-Baseline ................................................................................................ 161 E.8 PPP (Precise Point Positioning).............................................................................................................. 171 Appendix F GNSS Signal Specifications ........................................................................................................ 177 References ................................................................................................................................................................ 179

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1 Overview

RTKLIB ver. 2.4.2 Manual

RTKLIB is an open source program package for standard and precise positioning with GNSS (global navigation satellite system). RTKLIB consists of a portable program library and several APs (application programs) utilizing the library. The features of RTKLIB are:

(1) It supports standard and precise positioning algorithms with: GPS , [1][2][3] GLONASS [4], Galileo [5], QZSS [6], BeiDou [7] and SBAS [8]

(2) It supports various positioning modes with GNSS for both real-time- and post-processing: Single, DGPS/DGNSS, Kinematic, Static, Moving-Baseline, Fixed, PPP-Kinematic, PPP-Static and PPP-Fixed.

(3) It supports many standard formats and protocols for GNSS: RINEX 2.10 [9], 2.11 [10], 2.12 [11] OBS/NAV/GNAV/HNAV/LNAV/QNAV, RINEX 3.00 [12], 3.01 [13], 3.02 [14] OBS/NAV, RINEX 3.02 CLK [15], RTCM ver.2.3 [16], RTCM ver.3.1 (with amendment 1-5) [17], RTCM ver.3.2 [18], BINEX [19], NTRIP 1.0 [20], NMEA 0183 [21], SP3-c [22], ANTEX 1.4 [23], IONEX 1.0 [24], NGS PCV [25] and EMS 2.0 [26] (refer Appendix D.1 and D.2 for details).

(4) It supports several GNSS receivers proprietary messages: NovAtel [27]: OEM4/V/6, OEM3, OEMStar, Superstar II, Hemisphere [28]: Eclipse, Crescent, u-blox [29]: LEA-4T/5T/6T, SkyTraq [30]: S1315F, JAVAD [31] GRIL/GREIS, Furuno [32] GW-10-II/III and NVS [33] NV08C BINR (refer Appendix D.2 for details).

(5) It supports external communication via: Serial, TCP/IP, NTRIP, local log file (record and playback) and FTP/HTTP (automatic download).

(6) It provides many library functions and APIs (application program interfaces): Satellite and navigation system functions, matrix and vector functions, time and string functions, coordinates transformation, input and output functions, debug trace functions, platform dependent functions, positioning models, atmosphere models, antenna models, earth tides models, geoid models, datum transformation, RINEX functions, ephemeris and clock functions, precise ephemeris and clock functions, receiver raw data functions, RTCM functions, solution functions, Google Earth [34] KML converter, SBAS functions, options functions, stream data input and output functions, integer ambiguity resolution, standard positioning, precise positioning, post-processing positioning, stream server functions, RTK server functions, downloader functions.

(7) It includes the following GUI (graphical user interface) and CUI (command-line user interface) APs. () shows the section describing the instruction for each AP in the manual.

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RTKLIB ver. 2.4.2 Manual

Function (a) AP Launcher

(b) Real-Time Positioning

(c) Communication Server

(d) Post-Processing Analysis

(e) RINEX Converter

(f)

Plot Solutions and Observation Data

(g)

Downloader for GNSS Products and Data

(h) NTRIP Browser

GUI AP

RTKLAUNCH (3.1)

RTKNAVI (3.2, 3.3, 3.5)

STRSVR, (3.3)

RTKPOST (3.4, 3.5) RTKCONV

(3.6) RTKPLOT (3.7, 3.8) RTKGET

(3.9) SRCTBLBROWS

(3.10)

CUI AP

-

RTKRCV (3.11, A.1) STR2STR (3.11, A.5) RNX2RTKP (3.11, A.2) CONVBIN (3.11, A.4)

-

-

-

Notes

(8) All of the executable binary APs for Windows are included in the package as well as whole source programs of the library and the APs.

RTKLIB GUI APs on Windows 7 2

2 User Requirements

2.1 System Requirements

RTKLIB ver. 2.4.2 Manual

The executable binary GUI and CUI APs included in the package require Microsoft Windows [35] environment. On the other OS or environment, you have to compile and build CUI APs by yourself. All of the library functions and APIs were written in ANSI C (C89). The library internally uses winsock and WIN32 thread for Windows with the compiler option -DWIN32 and the standard socket and pthread (POSIX thread) for Linux/UNIX without any option. By setting the compiler option -DLAPACK or -DMKL, the library uses LAPACK/BLAS [36] or Intel MKL [37] for fast matrix computation. The CUI APs were also written in ANSI C. The library and CUI APs can be built on many environments like gcc on Linux. The GUI APs were written in C++ and utilize Embarcadero/Borland VCL (visual component library) [38] for GUI toolkits. All of the executable binary APs in the package were built by Embarcadero C++ builder XE2 Starter Edition on Windows 7. The executable GUI APs were tested on Windows 7 (64bit). The CUI APs were also built and tested on Ubuntu [39] 11.04 Linux and x86 CPU.

Notes: Previous versions of RTKLIB until ver. 2.4.1 were built by a free edition of Borland C++ (Turbo C++ 2006). Turbo C++, however, is no longer supported in ver. 2.4.2 because of type incompatibility problem of GUI strings between ver.2.4.2 and the previous ones.

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