Manual 2.4.1

Copyright(C)20072011byT.Takasu.Allrightsreserved.
RTKLIBver.2.4.1Manual
20110610
Contents
1 Overview..............................................................................................................................................................1
2 SystemRequirement...........................................................................................................................................3
3 Instructions..........................................................................................................................................................4
3.1 Installation/Uninstallation..........................................................................................................................4
3.2 RealtimePositioningwithRTKNAVI......................................................................................................6
3.3 ConfigureInput,OutputandLogStreamsforRTKNAVI...................................................................19
3.4 PostProcessingAnalysiswithRTKPOST..............................................................................................25
3.5 ConfigurePositioningOptionsforRTKNAVIandRTKPOST............................................................29
3.6 ConvertReceiverRawDatatoRINEXwithRTKCONV.....................................................................42
3.7 ViewandPlotSolutionsandObservationDatawithRTKPLOT........................................................46
3.8 NTRIPSourceTableBrowser...................................................................................................................58
3.9 UseConsoleAPsofRTKLIB....................................................................................................................60
4 DevelopandLinkuserAPwithRTKLIB.......................................................................................................61
AppendixAConsoleAPCommands....................................................................................................................62
A.1 RTKRCV.....................................................................................................................................................62
A.2 RNX2RTKP.................................................................................................................................................65
A.3 POS2KML...................................................................................................................................................67
A.4 CONVBIN..................................................................................................................................................68
A.5 STR2STR.....................................................................................................................................................71
AppendixBFileFormats.........................................................................................................................................72
B.1 PositioningSolutionFile...........................................................................................................................72
B.2 SBASLogFile.............................................................................................................................................75
B.3 SolutionStatusFile....................................................................................................................................76
B.4 ConfigurationFile.....................................................................................................................................78
AppendixCLibraryAPIs(ApplicationProgramInterfaces).............................................................................81
1
1 Overview
RTKLIB is an open source program package for standard and precise positioning with GNSS. RTKLIB
consists of a portable program library and several application programs (APs) utilizing the library. The
featuresofRTKLIBare:
(1) Supportsstandardandprecisepositioningalgorithmswith:
GPS,GLONASS,Galileo,QZSSandSBAS
(2) SupportsvariouspositioningmodeswithGNSSforbothrealtimeandpostprocessing:
Singlepoint,DGPS/DGNSS,Kinematic,Static,Movingbaseline,Fixed,PPPKinematicandPPPStatic
(3) SupportsmanystandardformatsandprotocolsforGNSS:
RINEX2.10,2.11,2.12OBS/NAV/GNAV/HNAV,RINEX3.00OBS/NAV,RINEX3.00CLK,RTCMv.2.3,
RTCM v.3.1, NTRIP 1.0, NMEA 0183, SP3c, ANTEX 1.3, IONEX 1.0, NGS PCV and EMS 2.0 (see
ReleaseNotesforsupportedRINEXfilesandRTCMmessages)
(4) SupportsseveralGNSSreceiversproprietarymessages:
NovAtel: OEM4/V, OEM3, OEMStar, Superstar II, Hemisphere: Eclipse, Crescent, ublox: LEA4T,
LEA5T, LEA6T, SkyTraq: S1315F, JAVADGRIL/GREIS, Furuno GW10II/III (see Release Notes for
supportedmessages)
(5) Supportsexternalcommunicationvia:
Serial,TCP/IP,NTRIP,locallogfile(recordandplayback)andFTP/HTTP(automaticdownload)
(6) ProvidesmanylibraryfunctionsandAPIs:
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,positioningmodels,atmospheremodels,antennamodels,earthtidesmodels,geoidmodels,
datumtransformation,RINEXfunctions,ephemerisandclockfunctions,preciseephemerisandclock
functions, receiver raw data functions, RTCM functions, solution functions, Google Earth KML
converter, SBAS functions, options functions, stream data input and output functions, integer
ambiguity resolution, standard positioning, precise positioning, postprocessing positioning, stream
serverfunctions,RTKserverfunctions
(7) ProvidesGUIandconsole(commandline)APs:
RTKNAVI,RTKRCV :realtimepositioning
RTKPOST,RNX2RTKP :postprocessinganalysis
RTKPLOT :visualizationofsolutionsandobservationdata
RTKCONV,CONVBIN :RINEXtranslatorforRTCMandreceiverrawdatalog
STRSVR,STR2STR :communicationutility
2
NTRIPSRCBROWS :NTRIPsourcetablebrowser
Otherpositioningutilities
All of the executable binary APs for Windows are included in the package as well as whole source
programsofthelibraryandtheAPs.
3
2 System Requirement
All of the library functions and APIs are written in ANSI C (C89). The library internally uses standard
socketandpthread(POSIXthread)forLinux/UNIXorwinsockandWIN32threadforWindows.Bysetting
compiler option DLAPACK or DMKL, the library uses LAPACK/BLAS or Intel MKL for fast matrix
computation.TheconsoleAPsarealsowritteninstandardC.ThelibraryandconsoleAPscanbebuilton
manyenvironmentslikegcconLinux.TheGUIAPsarewritteninC++andutilizeBorlandVCLfortheGUI
toolkit.AlloftheexecutablebinaryAPsinthepackagewerebuiltbyfreeeditionBorlandTurboC++2006
(http://www.turboexplorer.com)*onWindows.ThebinaryAPsweretestedonWindowsXPSP332bitand
Windows764bit.TheconsoleAPsarealsobuiltandtestedonUbuntu9.04Linux.
* Free editionTurbo C++ 2006 is no longeravailable. Weplan to change the GUI toolkit for RTKLIBGUI
APstoopensourceoneinfutureversions.
4
3 Instructions
3.1 Installation/Uninstallation
(1) Extract the program package rtklib_<ver>.zip or rtklib_<ver>_bin.zip to appropriate
directory(<ver>indicatestheversionnumber).TheRTKLIBdirectorystructureisasfollows.
rtklib_<ver>
\src :SourceprogramsofRTKLIBlibraries*
\rcv :SourceprogramsdependingonGPS/GNSSreceivers*
\bin :ExecutablebinaryAPsandDLLsforWindows
\data :SampledataforAPs
\app :BuildenvironmentforAPs*
\rtknavi :RTKNAVI(GUI)*
\rtknavi_mkl :RTKNAVI_MKL(GUI)*
\strsvr :STRSVR(GUI)*
\rtkpost :RTKPOST(GUI)*
\rtkpost_mkl :RTKPOST_MKL(GUI)*
\rtkplot :RTKPLOT(GUI)*
\rtkconv :RTKCONV(GUI)*
\srctblbrows :NTRIPsourcetablebrowser(GUI)*
\rtkrcv :RTKRCV(console)*
\rnx2rtkp :RNX2RTKP(console)*
\pos2kml :POS2KML(console)*
\convbin :CONVBIN(console)*
\str2str :STR2STR(console)*
\appcmn :CommonroutinesforGUIAPs*
\icon :IcondataforGUIAPs*
\lib :Librariesgenerationenvironment*
\test :Testprogramanddata*
\util :Utilities*
\doc :Documentfiles
*Notincludedinthepackagertklib_<ver>_bin.zip
(2) Create the shotcuts of the GUI AP executable binaries in rtklib_<ver>\bin. To execute console
APs,add<install dir>\rtklib_<ver>\bintothecommandpath.
5
(3) TheGUIandcommandlineAPsinRTKLIBneverutilizeWindowsregistry.TouninstalltheRTKLIB
package,simplydeletethewholefilesanddirectoriesintheinstalleddirectory.
(4) The optional settings for the GUI APs are saved in INI files (*.ini) usually placed in directory
C:\Windows.TouninstalltheRTKLIBpackagecompletely,pleasedeletetheseINIfilestoo.
(5) SomeGUIAPs(RTKCONV,RTKPOST,RTKNAVIandSTRSVR)inRTKLIBcanbeexecutedwiththe
command line option -i <inifile>.ini to select the alternative INI file for the other optional
settings. Userscan switch theoptionsforsuch APsby using thecommandline option as well as the
option-t <title> tochangethewindowtitle.Soyoucanconfiguremultipleshortcutsforthesame
GUIAPwithdifferentoptionsbysettingthepropertiesoftheshortcuts.
(6) TouseRTKPOST_MKLorRTKNAVI_MKL,whichistheIntelMLKlibrarylinkedversionRTKPOST
or RTKNAVI for faster matrix computation, on multiplecore CPU or multipleprocessor computers,
pleasesettheWindowsenvironmentvariableOMP_NUM_THREADSto2,4or8accordingtothenumber
oftheCPUcores.Thatenablesmultithreadingmatrixcomputationinordertoshortentheprocessing
time.
6
3.2 Real-time Positioning with RTKNAVI
Realtime positioning AP RTKNAVI inputs raw observation data of GPS/GNSS receivers and execute
navigationprocessinginrealtime.BysettingthepositioningmodetoKinematicandconfiguringtherover
and the base station receiver data inputs, RTKGPS/GNSS positioning is enabled with OTF (Onthefly)
integerambiguityresolution.
(1) ExecutethebinaryAPfilertklib_<ver>\bin\rtknavi.exe.(Doubleclicktheiconorfullinthe
pathinthecommandconsole)YoucanseethemainwindowofRTKNAVI.
(2) ThefollowingfigureshowsthedataflowofRTKNAVI.YouhavetosetInputStreams,OutputStreams
(optional)andLogStreams(optional)forrealtimepositioning.
Operation
Buttons
(1)InputRover
RTKNAVI (2)InputBaseStation
(4)OutputSolution1
(5)OutputSolution2
(6)LogRover
(7)LogBaseStation
InputStreams(I) OutputStreams(O)
LogStreams(L)
GPS/GNSS
Receivers
TimeDisplay
Solution
Display
RTKMonitor
Button
Input/Output/Log
Stream
Status/Settings
SignalLevel/
SatelliteVisibility
Display
MessageArea SaveLogButton
DisplaySwitch
(3)InputCorrection
(8)LogCorrection
Correction
Provider
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(3) For realtime positioning with RTKNAVI, you have to input the raw observation data and satellite
ephemeridesfromtheGPS/GNSSreceivers.Tosettheinputstream,pushthebutton I uppercenter
inthemainwindow.YoucanseeInputStreamsdialog.
(4) Check and set the stream type of Rover, Basestation or Correction in the dialog. If you set the
positioning mode option Single, the input stream for Basestation and Correction are not required.
Thestreamtypescanbeselectedfromthefollowingoptions.
(a)Serial :Inputdatafromaserialport(RS232CorUSB)
(b)TCPClient :ConnecttoaTCPserverandinputdataviatheTCPconnection
(c)TCPServer :AcceptaTCPclientconnectionandinputdataviatheTCPconnection
(d)NTRIPClient :ConnecttoaNTRIPserver(caster)andinputdataviatheNTRIP.
NRTK(networkRTK)serversupportingNTRIPandRTCM2/3canalso
beusedforthebasestationviaInternet.
(e)File :Inputdatafromalogfile.
(f)FTP :InputdataafterdownloadingafilebyFTP(OnlyforCorrection)
(g)HTTP :InputdataafterdownloadingafilebyHTTP(OnlyforCorrection)
Youhavetoselectthestreamdataformatfromthefollowingoptionswiththepulldownmenuunder
Format.ReferReleaseNotesforthedetailedsupportedmessages.
(a)RTCM2 :RTCM2.3
(b)RTCM3 :RTCM3.1
(c)NovAtelOEM4/V :NovAtelOEM4/V,OEMStarbinaryformat
(d)NovAtelOEM3 :NovAtelOEM3(Millennium)binaryformat
(e)ublox :ubloxLEA4T,5Tand6Tbinaryformat
8
(f)SuperstarII :NovAtelSuperstarIIbinaryformat
(g)Hemisphere :HemisphereCrescent/Eclipsebinaryformat
(h)SkyTraq :SkyTraqS1315Fbinaryformat
(i)GW10 :FurunoGW10II/IIIbinaryformat
(j)Javad :JAVADGRIL/GREISbinaryformat
(k)SP3 :SP3preciseephemeris(OnlyforCorrection)
(5) If you select Serial as the stream type, push ... button under Opt label to set the options of port
selection,bitrate,bytesize,parity,numberofstopbitsandflowcontrolwithSerialOptionsdialog.
(6) IncaseofselectingSerialasthestreamtype,youcanconfigurethestartupandshutdowncommands
tobesenttotheGPS/GNSSreceiver.Push ... buttonunderCmdlabel.Fillinthecommandsinthe
textfieldsinSerialCommandsdialog.IfyoudonotcheckCommandsatstartuporCommandsat
shutdown, the startup or shutdown command is not sent to the receiver. You can also load the
commandsfromacommandfilebypushingLoad...buttonorsavethecommandstoacommandfile
with Save... button.Thecommandfileisjustatextfileincludingstartupcommandsandshutdown
commandsseparatedbyalinestartingwith@.Thesamplecommandfilesforsometypicalreceivers
arefoundinthedirectoryrtklib_<ver>/data.
9
(7) The line starting with ! is treated as a receiver binary command. The following commands can be
usedforubloxandSkyTraqreceivers.Referreceiversmanualsfordetails.
!UBX...:ubloxLEA4T/5Tcommand
!UBXCFGPRTportidres0res1modebaudrateinmaskoutmaskflags
!UBXCFGUSBvendidprodidres1res2powerflagsvstrpstrserino
!UBXCFGMSGmsgidrate0rate1rate2rate3
!UBXCFGNMEAfilterversionnumsvflags
!UBXCFGRATEmeasnavtime
!UBXCFGCFGclear_masksave_maskload_mask
!UBXCFGTPintervallengthstatustime_refresadelayrdelayudelay
!UBXCFGNAV2...
!UBXCFGDATmajaflatdxdydzrotxrotyrotzscale
!UBXCFGINFprotocolidres0res1mask0mask1mask2mask3
!UBXCFGRSTnavbbrresetres
!UBXCFGRXMgpsmodelpmode
!UBXCFGANTflagspins
!UBXCFGFXNflagstreacqtacqtreacqofftacqofftontoffresbasetow
!UBXCFGSBASmodeusagemaxsbasresscanmode
!UBXCFGLICkey0key1key2key3key4key5
!UBXCFGTMintidrateflags
!UBXCFGTM2chres0res1rateflags
!UBXCFGTMODEtmodeposxposyposzposvarsvinmindursvinvarlimit
!UBXCFGEKF...
!STQ...:SkyTraqS1315Fbinarycommand
!STQRESTART[arg...]systemrestart
!STQCFGSERI[arg...]configureserialportproperty
!STQCFGFMT[arg...]configureoutputmessageformat
!STQCFGRATE[arg...]configurebinarymeasurementoutputrates
!WAITtime:waitfortime(ms)
(8) IfyouselectTCPClientorTCPServerasthestreamtype,youcansettheoptionsofTCPserveraddress
(forTCPClientonly)andportnumberwithTCPClientOptionsorTCPServerOptionsdialog.If
youselectTCPServer,multipleTCPclientconnectionsareallowed.
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(9) IfyouselectNTRIPClientasthestreamtype,youcansettheNTRIPclientoptionsofNTRIPcasterhost
address, port number, mountpoint of NTRIP caster, userID and password with NTRIP Client
Optionsdialog.IfthePortfieldblank,NTRIPdefaultportnumber(2101)isused.
(10) IfyouselectFileasthestreamtype,inputthefilepathtothetextfieldInputFilePaths.Fillinthepath
directlyorselectafilewiththefileselectiondialogbypushing ... button.Theinputfileshouldbea
receiverrawdatalog.YoucansetthereplayspeedandthestarttimeoffsetofthelogfileinTimefield
(Tousethefeature,youhavetorecordthelogwiththetimetagfile.)
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(11) By pushing the Opt button rightside of the input stream settings like EPHALL, you can set the
receiverdependent options with the Receiver Option dialog. For the receiverdependent options,
pleasereadthecommentlinesinthesourceprograminrtklib_<ver>\src\rcv/<receiver>.c
(12) In case of using NRTK (network RTK) service, which requires NMEA GPGGA messages to select
referencestationortogetvirtualreferencestationposition,selectthemessagecontentwiththepull
downmenuatTransmitNMEAGPGGAtoBase/NRTK.IfyouselectLatitude/Longitudetosendfixed
position,fillinthelatitudeandlongitudeforNMEAGPGGAmessageindegree(minusmeanssouth
orwest).
(13) Forcorrection,youcanselectFTPorHTTPforthestreamtype.AfterpushingOptbutton,youhaveto
configure FTP or HTTP options with FTP Option or HTTP Option dialog. At first fill in the server
address and the file path in Download Address field as the format <server address>/<file path>.
Usually you might include day or time keywords in <file path>. For example, if downloading IGS
UltrarapidephemerisfromNASAGSFCCDDISdataserver,youcaninputthedownloadaddress:
cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z
Inthiscase,thekeywords%W,%Dand%hbarereplacedbyGPSweeknumber,dayofweekand6hour
ofthedayaccordingtothedownloadtimeinGPSTime,respectively.Forotherkeywordswhichcanbe
used in the file path, push ? button and see the dialog. You can also set Download Interval,
DownloadOffset(forexample,Interval=6HandOffset=2Hmeansthedownloadwillbetriedat2:00,
8:00, 14:00 and 20:00 in GPS Time), Time Offset in Path for replacing the keywords in the file path,
12
RetryInterval,User(forFTPonly)andPassword(forFTPonly)fortheserver.ForUserandPassword,
anonymousandyourmailaddressareusuallyusedfortheanonymousFTPserver.
Tousedownloadfiles,youalsohavetosetthefileformatinInputDialog.Currentversiononly
supportsSP3preciseephemerisforthispurpose.Downloadedfilesaresavedinalocaldirectory.The
localdirectorypathcanbesetwithOptionsdialogFilesFTP/HTTPLocalDirectory.
(14) TooutputofthepositioningsolutionofRTKNAVI,settheoutputstreams.Tosettheoutputstreams,
pushthebuttonOupperrightinthemainwindow.YoucanseeOutputStreamsdialog.
Check and set the stream type of solution in the dialog. You can configure two independent output
streams.YoucanselectthestreamtypeoutofSerial,TCPClient,TCPServer,NTRIPServerandFile.
The options are similar to the input streams. You also have to select the following output format
options. The time and latitude/longitude formats in output messages can be configured by the
positioningoptions.
(a)Lat/Lon/Height :Latitude,longitudeandheight
(b)X/Y/ZECEF :X/Y/ZcomponentsinECEFframe
(c)E/N/UBaseline :E/N/Ucomponentsofthebaseline
(d)NMEA183 :NMEAGPRMC,GPGGA,GPGSV
(15) If you select File as the output stream type, you can include some keywords in the file path to be
replacedbydateortime.Push ? buttontoshowthekeywordreplacementinfilepaths.Ifyouset
13
Swap Intv option, the output file is swapped periodically in the specified cycle. To use the file swap
function,thefilepathmustcontainthekeywordstobereplacedbytheswaptime.
(16) If you select NTRIP Server as the output stream type, you have to set NTRIP server options with
NTRIPServerOptiondialog.TheoptionsincludetheaddressofNTRIPCasterHost,theportnumber
to connect NTRIP caster, Mountpoint, Password and String showing the sourcetable parameters to
NTRIPCaster.IfthePortfieldisblank,thedefaultportnumber(80)isused.
(17) To output an input stream as a paththrough log, set the log streams. To configure the log streams,
pushthebutton L upperrightinthemainwindow.YoucanseeLogStreamsdialog.Thesettings
aresimilartotheoutputstreams.Ifyouwanttoreplaythelogfileasaninputstreamlater,youhaveto
checkTimeTagoptionandoutputthetimetagfilesimultaneously.Theoutputpathofthetimetag
file is output file path + .tag. The keyword replacements in the file paths and swapinterval are the
sameasOutputStreamsdialog.
14
(18) Toconfigurethepositioningoptions,push Options... buttonandsettheoptionsinOptionsdialog.

For details of the positioning options, refer 3.5 Configure Positioning Options for RTKNAVI and
RTKPOST.
(19) PushStartbutton.Thestatusofeachstreamsareshownontheupperrightindicators.Fromtheleft,
they show the stream/processing status of Input Rover, Input Base Station, Input Correction, the
positioning process, Output Solution 1, Output Solution 2, Log Rover, Log Base Station and Log
Correction. Gray represents not used, Orange means waiting for the connection, Deepgreen means
connected or running, Lightgreen means data active (input, output or processing) and Red means a
communicationerroroccurs.Somestatusmessagesarealsoshowninthelowercentermessageareain
themainwindow.TostopthepositioningprocessinRTKNAVIpushStopbutton.
(20) Aftertheinputobservationdataandephemeridesarecompletedandvalid,RTKNAVIcomputesthe
positioning solution and display it in thesolution display left in the main window withthe solution
status (FIX, FLOAT, DGPS, SBAS, SINGLE or PPP), E/N/U or X/Y/Z components of the standard
deviation,Age(ageofdifferential),Ratio(ratiofactorofambiguityvalidation)and#ofSat(numberof
15
validsatellites).Toswitchtheformatinthesolutiondisplay,push buttonupperrightcorner.You
can switch the solution to Lat/Lon/Height (degree/minute/second), Lat/Lon/Height (degree),
X/Y/ZECEF(m),E/N/UBaseline(m),Pitch/Yaw/LengthBaseline(deg,m),alternatively.
(21) Toswitchtheformatinthetimedisplay,push GPST buttonuppercenterinthemainwindow.You

canswitchthetimesystemtoGPST,UTC,JSTandGPST(GPSweek/TOW),alternatively.
(22) Inthestatusdisplayrightinthemainwindow,observationSNRstatusorvisiblesatellitesinskyplot
areshown.Bypushing buttonupperrightcornerofthestatusdisplay,youcanswitchthecontents
to Rover : Base SNR, Rover SNR, Rover Skyplot, Base Skyplot and Baseline plot, Wide Rover : Base
SNR,WidemodeRoverSNR,alternatively.Youcanswitchthefrequencyshowintheplotbypushing
thesecond buttonneartheupperrightcorner.
(23) BypushingPlot...button,youcanexecuteRTKPLOTtoplotthecurrentpositionoftheroverreceiver
as the graph. For the usage of RTKPLOT, please refer 3.7 View and Plot Solutions and Observation
DatawithRTKPLOT.
16
(24) Thepositioningsolutionsarerecordedintheinternalbuffersimultaneously.Youcansavetheinternal
solutionbuffertothefilebypushing...belowthesolutiondisplay.Thesizeofthesolutionbufferand
thesavedsolutionlogcanbeconfiguredwithOptionsdialog.
(25) Bypushingthe buttonlowerleftinthemainwindow,youcanseeRTKMonitorwindow.Withthe

window,youcanmonitortheinternalstatusofRTKNAVI.Youcanselectthefollowingcontentswith
theupperleftpulldownmenu.MultipleRTKMonitorwindowsareallowed.Toclosethewindow,
pushClosebutton.
17
(a)RTK :Generalstatusoftheinternalpositioningprocess
(b)Satellites :Statusofeachsatellites
(c)States :Statevectorvaluesoftheestimationfilter
(d)Covariance :Covariancematrixoftheestimationfilter
(e)ObsData :Inputobservationdata.RCV=1meansroverand2meansbasestation
(f)NavGPS/GAL/QZS :GPS,GalileoorQZSSnavigationmessages
(g)NavGLONASS :GLONASSnavigationmessages
(h)NavGEO :SBASsatellitesnavigationmessages
(i)Time/Iono :TimeandIonosphereparameters
(j)Streams :Statusofinput,outputandlogstreams
(k)SBASMsgs :HEXdumpofinputSBASmessages
(l)SBASLong :SBASlongtermsatellitecorrections
(m)SBASIono :SBASionosphericdelaycorrections
(n)SBASFast :SBASfastcorrections
(o)RTCMMsgs :StatusofRTCM2or3messages
(p)RTCMDGPS :RTCMDGPScorrections
(q)RTCMSSR :RTCMSSRcorrections
(r)LEXMsgs :(reserved)
(s)LEXEph/Clock :(reserved)
(t)LEXIono :(reserved)
(u)IonoCorrection :Ionospherecorrections
(v)(1)Rover :DumpofInputRoverstream
(w)(2)Base/NRTK :DumpofInputBaseStationstream
(x)(3)Correction :DumpofInputCorrectionstream
18
(y)(4)(5)Solution1/2 :DumpofOutputSolution1/2stream
(z)Error/Warning :Errororwarningmessages
(26) Bypushing buttonlowerrightinthemainwindow,youcanminimizethemainwindowasanicon

in the tasktray of Windows desktop. To restore the main window, doubleclick the tasktrayicon or
clickrightbuttononthetasktrayiconandselectmenuMainWindow....
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3.3 Configure Input, Output and Log Streams for RTKNAVI
For relative positioning like RTKGPS/GNSS, the rover receiver and the base station receiver are usually
placedontheseparatedsites.Inothercases,usermightusethepositioningresultattheremotesitefarfrom
thesereceivers.Tointerconnectthesesites,userhastoestablishdatacommunicationlinks.Tofacilitateeasy
setupofthesecommunicationlinks,RTKLIBprovidesthecommunicationutilitySTRSVR,withwhichuser
canconfigureinputandoutputdatastreamviathesecommunicationlinks.STRSVRalsohasthefunction
ofrelayorsplitthedatastreamforrealtimepositioningwithRTKNAVI.
Forexample,toreceiveobservationdataofaremotebasestationataroverreceiversiteandtogetRTKGPS
solution, user can place a remote PC installing STRSVR connecting to the base station receiver and can
configureSTRSVRtosenddatatotheroversite.Thefollowingexamplesshowthetypicalapplicationsof
RTKNAVIandSVRSVR.
(1) Singlepointpositioningandoutputsolutionstoafile
(2) Singlepointpositioning,outputsolutionstoaserialdevice,logdatatoafile
GPS/GNSS
Receiver
RTKNAVI
Serial
(1)InputRover=Serial
(3)OutputSolution1=File
File
RTKNAVI
Serial
(3)OutputSolution1=Serial
(5)LogRover=File
Serial
PC
PC
Log
GPS/GNSS
Receiver
20
(3) RTKGPS/GNSS,inputtheroverandbasestationdatafromtwoserialdevices
(4) RTKGPS/GNSS,inputroverdatafromaserialportandinputbasestationdatafromaremotereceiver
viaWiFinetwork.
(5) RTKGPS/GNSS, input rover data from a serial port and input base station data via mobile phone
Internetconnection
Rover
Receiver
RTKNAVI
Serial
(2)InputBaseStation=Serial
File
PC
BaseStation
Receiver
Serial
Rover
Receiver
RTKNAVI
Serial
(2)InputBaseStation=TCPClient
File
PC
BaseStation
Receiver
Serial
STRSVR
(0)Input=Serial
(1)Output1=TCPServer
PC
TCP
Server
TCP
Client
Rover
Receiver
RTKNAVI
Serial
File
PC
BaseStation
Receiver
Serial
STRSVR
(0)Input=Serial
(1)Output1=TCPServer
PC
Internet
Mobile
Phone
Terminal
Mobile
Phone
N/W
21
(6) RTKGPS/GNSS, input data from a serial port and input base station data via a NTRIP caster on
Internet. Current version does not support NTRIP caster feature. Please employ some alternative
NTRIPcasterimplementation.
(7) RTKGPS/GNSSwithNRTK(NetworkRTK)serviceviaInternet
Rover
GPSReceiver
RTKNAVI
Serial
(2)InputBaseStation=NTRIPClient
File
PC
BaseStation
GPSReceiver
Serial
STRSVR
(0)Input=Serial
(1)Output1=NTRIPServer
PC
Internet
Ntrip
Caster
Rover
GPSReceiver
RTKNAVI
Serial
File
PC
NTRIPCaster
Internet
NRTKprovider
Reference
Station
Reference
Station
Reference
Station
Reference
Station
22
(8)MultipleRTKGPS/GNSSwithsingleNRTKservice
(9) RealtimePPPwithrealtimesatelliteorbitandclockprovidedasaNTRIPstream.
RTKNAVI
PC
NTRIPCaster
Internet
NRTKprovider
Reference
Station
Reference
Station
Reference
Station
Reference
Station
STRSVR
Rover
Receiver1
RTKNAVI
PC
Rover
Receiver2
RTKNAVI
PC
Rover
Receiver3
RTKNAVI
PC
Rover
Receiver4
(1)Input=NTRIPClient
(2)Output=TCPServer
LAN
PC
GPSReceiver
RTKNAVI
Serial
(2)InputCorrection=NTRIPClient
File
PC
NTRIPCaster
Internet
NRTKprovider
RealtimeOrbit
andclock
Provider
23
(10)LongbaselineRTKwithFTPdownloadofpreciseephemeris
ThefollowinginstructionsarefortheoperationofSTRSVR.
(1) Execute the binary AP file rtklib_<ver>\bin\strsvr.exe. You can see the main window of
STRSVR.
(2) To configure the input stream, select the stream type with pull down menu at (0) Input. Selectable
streamtypesareSerial,TCPClient,TCPServer,NTRIPClient,File,FTPorHTTP.Thestreamoptions
orthestartup/shutdowncommandcanbesetaswellasInputStreamsforRTKNAVI.
(3) Toconfiguretheoutputstreams,selectthestreamtypewithpulldownmenuat(1)Output,(2)Output
or (3) Output. The setting for the output streams are same as Output Streams or Log Streams for
RTKNAVI.
Rover
GPSReceiver
RTKNAVI
Serial
(3)InputCorrection=FTP
File
PC
BaseStation
GPSReceiver
Serial
STRSVR
(0)Input=Serial
(1)Output1=NTRIPServer
PC
Internet
IGSDataServer
UltrarapidEphemeris(SP3)
24
(4) PushStartbuttoninthemainwindow.Thecommunicationstatusisshowninthemessagearealower
center of the main window. Status indicators left side of the main window also shows the
communication status. The indicator colors means: Orange: waiting connection, DarkGreen:
connected, LightGreen: data active, Red: error. Total data amount (bytes) and data rate (bps) of the
inputandoutputstreamsarealsoshowninrightside.Tostopthecommunication,pushStopbutton.
(5) BypushingOptions...button,youcansetthecommunicationoptionswithOptionsdialog.Tosend
NMEAGPGGAmessagetotheserverconnectedtheinputstream,checkNMEARequestCycleand
settherequestcycle(ms)andlatitude/longitudeinthemessages.ToconnectanexternalNTRIPCaster
fromtheinsideofthefirewallviaaHTTPproxyserver,youcaninputtheaddressandtheportnumber
astheform<address>:<port> inHTTP/NTRIPProxyfield.
25
3.4 Post-Processing Analysis with RTKPOST
RTKLIB contains a post processing analysis AP RTKPOST. RTKPOST inputs the standard RINEX 2.10 or
2.11 observation data and navigation message files (GPS, GLONASS, Galileo, QZSS and SBAS) and can
computesthepositioningsolutionsbycarrierbasedrelativepositioning.
(1) Execute the binary AP file rtklib_<ver>\bin\rtkpost.exe. You can see the main window of
RTKPOST. You can execute the binary AP file rtklib_<ver>\bin\rtkpost_mkl.exe instead.
RTKPOST_MKL is a faster version of RTKPOST, which link Intel MKL library for fast matrix
computation.
(2) InputtheRINEXobservationdatafilepathoftheroverreceiverinthetextfieldRINEXOBS(:Rover).
Fillinthefilepathorselectafileusingthefileselectiondialogshownbypushing ... button.Youcan
use the compressed file by GZIP (.gz), COMPRESS (.z) or HatanakaCompression (.yyd) for the
RINEX observation data. If a wildcard (*) is included in the file path, the wildcard expanded
multiplefilesareused.
(3) IfyouprocessRINEXdatainthepositioningmodeofDGPS/DGNSS,Kinematic,Static,MovingBase
or Fixed, input the file path of the basestation receiver in RINEX OBS: Base Station field as well as
roverobservationdata.
(4) YoualsohavetoinputthepathofRINEXnavigationmessagefilesofGPS,GLONASS,SBASandQZSS
26
in RINEX *NAV/CLK, SP3, IONEX or SBS/ EMS field. If you leave first and second field blank, the
observation data file path with the extension replaced by .*nav (.obs)
or.yyN,.yyG,.yyH,.yyQ,.yyP (.yyO)isusedforthenavigationmessagefilesofGPS,GLONASS,
SBASandQZSS.Ifawildcard(*)isincludedinthefilepath,thewildcardexpandedmultiplefiles
are used. To use precise ephemeris and clock for PPPkinemaric or PPPstatic mode, you can input
SP3c(forprecisesatelliteephemerisandclock)orRINEXCLK(forprecisesatelliteclock)filepathin
thefield.YoucaninputIONEX1.0fileforionosphericVTECgridcorrections.ForSBAScorrection,you
caninputSBASmessagelogasRTKLIBformatorEMS(EGNOSmessageserver)2.0formatfile.You
canalsoincludewildcards(*)inthesefilepaths.Thewildcardsareexpandedandmultiplefilesare
used.
(5) InputtheoutputfilepathinthetextfieldSolution.Thefieldisautomaticallysetasthefirstinputfile
pathwiththeextensionreplacedby.posor.nmea.IfyoucheckDirandfillinthefield,theoutput
directoryissettothespecifieddirectory.Youcanmodifytheoutputfilepathmanually.
(6) Push Options... button to set the processing options. For detailed options, refer 3.5 Configure
PositioningOptionsforRTKNAVIandRTKPOST.Youcansetthestarttimeorendtimebychecking
and setting Time Start (GPST) or Time End (GPST) field in the main window. You also set the time
intervalbycheckingandsettingIntervalfield.Withthe ? button,theinputtimeinGPStimecanbe
convertedtoUTC,GPSWeek/TOW,DayofYear,DayofWeek,TimeofDayandLeapSeconds.
(7) IfyoucheckbothofTimeStartandTimeEnd,youcancheckUnitformultiplesessionanalysis.IfUnit
checked and set the Unit, the analysis session is separated to multiple sessions for the Unit (hr). To
avoidoverwritingtheoutputtothesamefile,theoutputfilepathhastocontainthekeywordreplaced
accordingtothesessiontime.Fordetailsofthekeywordreplacementintheinputoroutputfilepaths,
refer3.5ConfigurePositioningOptionsforRTKNAVIandRTKPOST.
(8) PushExecutebuttontostarttheanalysis.Theprocessingstatusisshowninthestatusmessagefield
lowercenterinthemainwindow.Whenyouseedonemessagehere,theanalysisiscompleted.Ifyou
27
wanttostoptheprocessingontheway,pushAbortbutton.
(9) Aftercompletingtheanalysis,bypushing View... button,youcandisplaythecontentoftheoutput

filebyTextViewer.Youcanreloadtheoutputfilebypushing buttoninTextViewerwindow.To
closethewindow,pushClosebutton.
(10) By pushing View... button, you can also plot the result with RTKPLOT. Refer 3.7 View and Plot
SolutionsandObservationDatawithRTKPLOTfordetails.
28
(11) BypushingToKML...button,theoutputfilecanbeconvertedtoGoogleEarthKMLfilewithGoogle
Earth Converter dialog. Set or select the options and push Convert button in the dialog. You can
launchGoogleEarthwiththegeneratedKML/KMZfilebypushing GoogleEarth button.Tospecify
theGoogleEarthexecutionfile,configureOptionsFilesGoogleEarthExeFile.
(12) With buttoninthemainwindow,youcanviewandplottheinputobservationdataRTKPLOT.You

canalsodisplaythecontentsoftheinputfileswithTextViewerbypushing button.
29
3.5 Configure Positioning Options for RTKNAVI and RTKPOST
BypushingOptions...buttoninthemainwindowsofRTKNAVIorRTKPOST,youcansetthepositioning
options. Selectable or changeable positioning options are as follows. These options can be saved to the
configuration file by pushing Save button on the dialog and select the file path. The options can be
loaded from a configuration file by pushing Load button and selecting a configuration file. For the
configurationfile,referB.4.
(1)Setting1
Item Descriptions Notes

PositioningMode
Setpositioningmode
Single:SinglepointpositioningorSBASDGPS
DGPS/DGNSS:CodebaseddifferentialGPS
Static:CarrierbasedStaticpositioning
Kinematic:CarrierbasedKinematicpositioning
MovingBase:Movingbaseline
Fixed:Roverreceiverpositionisfixed
PPPKinematic:PrecisePointPositioningwithkinematic
mode
PPPStatic:PrecisePointPositioningwithstaticmode
PPP Fixed: Rover receiver position is fixed with PPP
mode
30
Frequencies
Setusedcarrierfrequencies
L1:L1only
L1+L2:L1andL2
L1+L2+L5:L1,L2andL5
L1+L2+L5+L6:L1,L2,L5andL6(reserved)
SolutionType
Setsolutiontype
Forward:Forwardfiltersolution
Backward:Backwardfiltersolution*
Combined:Smoothercombinedsolutionwithforward
andbackwardfiltersolutions*
*RTKPOSTonly
ElevationMask Setelevationmaskangle(deg)
SNRMask SetSNRmask(dBHz)
RecDynamics
Setthedynamicsmodeloftheroverreceiver.
OFF:Dynamicsisnotused
ON:Receivervelocityandaccelerationareestimated.
The receiver position is predicted with the estimated
velocityandacceleration.
Onlyeffectivein
DGPS/DGNSSor
Kinematicmode
EarthTides
Correction
Setwhetherearthtidescorrectionisappliedornot
OFF:Notapplyearthtidescorrection
ON:Applyearthtidescorrection
Onlyavailablein
DGPS/DGNSS,
KinematicorPPP
Mode
Ionosphere
Correction
Set ionospheric correction options. If you set the
parameterEstimated.Verticalionosphericdelayforeach
satellite)areestimated.Forlongbaselineanalysis,
ionosphereestimationiseffectivetosuppress
ionospheredelayeffects.
OFF:Notapplyionosphericcorrection
Broadcast:Applybroadcastionosphericmodel
SBAS:ApplySBASionosphericmodel
DualFrequency:Ionospherefreelinearcombination
withdualfrequencymeasurementsisusedfor
ionosphericcorrection
Estimate STEC : Estimate ionospheric parameter STEC
(slanttotalelectroncontent)
IONEXTEC:UseIONEXTECmodel
QZSS Broadcast: Apply broadcast ionosphere model
providedbyQZSS
QZSSLEX:(reserved)
EstimatedSTECis
effectiveforonly
DGPS/DGNSSor
Kinematic,Static
mode.
Troposphere
Correction
Setwhethertroposphericparameters(zenithtotal
delayatroverandbasestationpositions)areestimatedor
not.
OFF:Notapplytropospherecorrection
Saastamoinen:Saastamoinenmodel
SBAS:SBAStroposphericmodel
EstimateZTD:EstimateZTD(zenithtotaldelay)
parameters
EstimateZTD+Grad:EstimateZTDandhorizontal
gradientparmeters
31
SatelliteEphemeris
Setthetypeofsatelliteephemeris.
Broadcast:Usebroadcastephemeris
Precise:Usepreciseephemeris
Broadcast+SBAS:BroadcastephemeriswithSBAS
longtermandfastcorrection
Broadcast+SSRAPC:BroadcastephemeriswithSSR
correction(antennaphasecentervalue)
Broadcast+SSRCoM:BroadcastephemeriswithSSR
correction(satellitecenterofmassvalue)
QZSSLEX:(reserved)
SSRcorrections
canbeapplied
onlyforRTKNAVI
ExcludedSatellites
(+PRN:Included)
Settheexcludedsatellitesforpositioning.FillinthePRN
numbers of the satellites separated by spaces. For
GLONASS, Galileo, QZSS and SBAS, use Rnn, Enn, Jnn
andSnn,respectively(nn:satellitenumber).
If+isaddedtotheheadofthesatelliteID,thesatelliteis
includedforpositioningevenifthesatelliteisunhealthy.
NaviSystem
Check used navigation satellite systems. If not checked,
satellitesofthesystemarenotusedforpositioning.
GPS
GLONASS
Galileo*
QZSS
SBAS
Compass*
*Notsupportedyet
(2)Setting2
32
IntegerAmbiguity
Resolution
Setthestrategyofintegerambiguityresolution
OFF:Noambiguityresolution
Continuous:Continuouslystaticintegerambiguitiesare
estimatedandresolved
Instantaneous:Integerambiguityisestimatedand
resolvedbyepochbyepochbasis
Fix and Hold : Continuously static integer ambiguities
are estimated and resolved. If the validation OK, the
ambiguitiesaretightlyconstrainedtotheresolvedvalues.
Default:Continuous
GLONASS
Ambiguity
Resolution
SetthestrategyofGLONASSintegerambiguityresolution
OFF:Ambiguitiesarenotfixed.
ON:Ambiguitiesarefixed.Usuallytheambiguityofonly
the same types receiver pair for the rover and the base
station can be fixed. The different receiver types have
interchannelbiaswhichcannotbecanceledbyDD.
Auto calibration: Receiver interchannel bias terms are
estimatedasalinearequationbythefrequencies.
Default:ON
Validation
ThresholdtoFix
Ambiguity
Settheintegerambiguityvalidationthresholdfor
ratiotest,whichusestheratioofsquaredresidualsofthe
bestintegervectortothesecondbestvector.
Defaultvalue:3.0
MinLock/
Elevationto
FixAmbiguity
Set the minimum lock count and the minimum elevation
angle(deg)tofixintegerambiguity.Ifthelockcountorthe
elevation angle is less than the value, the ambiguity is
excludedfromthefixedintegervector.
Defaultvalue:0,0
Min Fix / Elevation
toHoldAmbiguity
If you select Fix and Hold mode for Integer Ambiguity
Resolution, set the minimum fix count and the minimum
elevationangle(deg)toholdambiguity.
Defaultvalue:10,0
Outageto
ResetAmbiguity/
SlipThres
Settheoutagecounttoresetambiguity.Ifthedataoutage
countisoverthevalue,theestimatedambiguityisresetto
the initial value. And set the cycleslip threshold (m) of
geometryfree LC carrierphase difference between
epochs.
Defaultvalue:5,
0.05
MaxAgeof
Differential
Setthemaximumvalueofageofdifferential(s)between
theroverandthebasestation.
Defaultvalue:30
RejectThreshold
ofGDOP/
Innovation
Set the reject threshold of GDOP and innovation (prefit
residual) (m). If the GDOP or the innovation is over the
value, the observable is excluded for the estimation
processasanoutlier.
Defaultvalue:30,30
Numberof
Iteration
Setthenumberofiterationinthemeasurementupdate
oftheestimationfilter.Ifthebaselinelengthisveryshort
like 1 m, the iteration may be effective to handle the
nonlinearityofmeasurementequation.
Defaultvalue:1
BaselineLength
Constraint
If MovingBase mode, check and set the constraint of the
baseline length. Fill in the length in m and the standard
deviation(m)oftheconstraint.
33
(3)Output

SolutionFormat
Settheoutputsolutionformat.
Lat/Lon/Height:Latitude,longitudeandheight
X/Y/ZECEF:X/Y/ZcomponentsofECEFcoordinates
E/N/UBaseline:E/N/Ucomponentsofbaselinevector
NMEA0183:NMEAGPRMC,GPGGA,GPGSV
ForRTKNAVI,
specifyoptionsas
OutputStreams
setting.
OutputHeader Setwhethertheheaderisoutputornot.
Notapplicableto
NMEA
OutputProcessing
Options
Setwhethertheprocessingoptionsareoutputornot.
RTKPOSTonly
Notapplicableto
NMEA
TimeFormat
Settheformatoftime
ssssssss.sssGPST:GPSweekandTOW(timeofweek)
hh:mm:ssGPST:yyyy/mm/ddhh:mm:ssGPST
hh:mm:ssUTC:yyyy/mm/ddhh:mm:ssUTC
hh:mm:ssJST:yyyy/mm/ddhh:mm:ssJST
Notapplicableto
NMEA
#ofDecimals Setnumberofdecimalsinthetimeformat
Notapplicableto
NMEA
Latitude/Longitude
Format
Settheformatsoflatitudeandlongitudeifthesolution
formatissettoLat/Lon/Height.
ddd.dddddddd:Degree
dddmmss.sss:Degreeminutesecond
Notapplicableto
NMEA
FieldSeparator Settheseparatorforfields.
Notapplicableto
NMEA
Datum
Setthedatumifthesolutionformatoptionissetto
Lat/Lon/Height.
WGS84:WGS84datum
Tokyo:Tokyodatum
(currentversionsupportsonlyWGS84)
Height
Setthetypeofheight.
Ellipsoidal:Ellipsoidalheight
Geodetic:Geodeticheight
34
GeoidModel
SetthegeoidmodeliftheHeightoptionissettoGeodetic.
Internal:Internalgeoidmodel
EGM96BE(15):EGM96(15x15grid)*1
EGM2008SE(2.5):EGM2008(2.5x2.5grid)*2
EGM2008SE(1):EGM2008(1x1grid)*2
GSI2000(1x1.5):GSI2000(1x1.5grid)*3
Ifusingexternalgeoidmodel,specifythegeoidfilepathin
Filestab.
SolutionforStatic
Mode
SetthesolutiontypeforStaticorPPPStaticmode
All:allsolutionsfortheprocessingperiodareoutputted
Single: Only one solution for the processing period is
outputted. The time of solution is first epoch in the
processingperiod.
RTKPOSTonly
NMEAInterval(s)
RMC/GGA
SettheoutputintervalofNMEAGPRMC,GPGGA
messages
RTKNAVIonly
NMEAInterval(s)
GSA/GSV
SettheoutputintervalofNMEAGPGSA,GPGSV
messages
RTKNAVIonly
OutputSolution
Status
Settheoutputlevelofthesolutionstatusfile.Thesolution
status file contains estimated states and residuals. The
solution status file is created in the current directory
(RTKNAVI)orintheoutputfiledirectory(RTKPOST).
OutputDebugTrace
Settheoutputlevelofdebugtracefile.IfsettingOFF,any
debugtracefileisnotoutput.Thedebugtracefileis
createdinthecurrentdirectory(RTKNAVI)orinthe
outputfiledirectory(RTKPOST).
*1WW15MGH.DAC(http://earthinfo.nga.mil/GandG/wgs84/gravitymod/egm96/binary/binarygeoid.html)
*2Und_min1x1_egm2008_isw=82_WGS84_TideFree_SE,
Und_min2.5x2.5_egm2008_isw=82_WGS84_TideFree_SE
(http://earthinfo.nga.mil/GandG/wgs84/gravitymod/egm2008/egm08_wgs84.html)
*3gsigeome.ver4(http://vldb.gsi.go.jp/sokuchi/geoid/download/down.html)
(4)Statistics
35

Measurement
Errors(1sigma)

Code/CarrierPhase
ErrorRateL1/L2
Settheratioofstandarddeviationsofpseudorange
errorstocarrierphaseerrorsforL1andL2/L5/L6.
Defaultvalue:100,
100
CarrierPhaseError
Setthebasetermofcarrierphaseerrorstandard
deviation(m).
Defaultvalue:0.003
CarrierPhase
Error/sinEl
Settheelevationdependenttermofcarrierphaseerror
standarddeviation(m/sin(el)).
Defaultvalue:0.003
CarrierPhase
Error/Baseline
Setthebaselinelengthdependenttermofcarrierphase
errorstandarddeviation(m/10km).
Defaultvalue:0
DopplerFrequency
SetthestandarddeviationofDopplererrors(Hz)
(Currentversiondoesnotusethevalue)
Defaultvalue:1
ProcessNoises
(1sigma/sqrt(s))

ReceiverAccel
Horiz/Vertical
Settheprocessnoisestandarddeviationofthereceiver
accelerationasthehorizontalorverticalcomponent.
(m/s
2
/sqrt(s)).IfReceiverDynamicsissettoOFF,theyare
notused.
Defaultvalue:
1and0.1
CarrierPhaseBias
Settheprocessnoisestandarddeviationofcarrierphase
bias(ambiguity)(cycle/sqrt(s)).
Defaultvalue:
1E4
Vertical Ionospheric
Delay
Settheprocessnoisestandarddeviationofvertical
ionosphericdelayper10kmbaseline(m/sqrt(s)).
Defaultvalue:
1E3
ZenithTropospheric
Delay
Settheprocessnoisestandarddeviationofzenith
troposphericdelay(m/sqrt(s)).
Defaultvalue:
1E4
SatelliteClock
Stability
Setthesatelliteclockstability(s/s).Thevalueisusedfor
interpolationofbasestationobservables.
Defaultvalue:
5E12
(5)Positions
36
Rover
Lat/Lon/Height
(deg/m)
Setthepositionoftheroverantennaiftheroverantennais
fixed.
AntennaType
Selectthetypeoftheroverantenna.
Toselecttheantennatype,settheReceiverAntennaPCV
FilepathinFiles.If*isused,antennatypeandantenna
deltaarerecognizedbytheantennainformationofRINEX
OBS header (RTKPOST) or RTCM antenna information
(RTKNAVI).
DeltaE/N/U
SetthedeltapositionoftheroverantennaastheE/N/U
offsetsofARP(antennareferencepoint)positionwith
refertothemarker(m).
BaseStation
Lat/Lon/Height
(deg/m)
Setthepositionofthebasestationantenna.
Lat/Lon/Height(deg/m):Latitude/longitude/heightin
degreeandm
Lat/Lon/Height(dms/m):Latitude/longitude/heightin
degree/minute/secondandm
X/Y/ZECEF(m):X/Y/ZcomponentsinECEFframe.
RTCMStationPosition:Usetheantennaposition
includedinRTCMmessages*
AverageofSinglePos:Usetheaverageofsinglepoint
solutions**
GetfromPositionFile:Usethepositionintheposition
file.Thestationissearchedbyusingthehead
4characterIDoftheroverobservationdatafilepath.**
RINEXHeaderPosition:Usetheapproximatepositionin
RINEXOBSheader.**
Heightisspecified
asellipsoidalheight
*RTKNAVIonly
**RTKPOSTonly
AntennaType
Selectthetypeofthebasestationantenna.
Toselecttheantennatype,setReceiverAntennaPCV
FileinFiles.If*isused,antennatypeandantennadelta
arerecognizedbytheantennainformationofRINEXOBS
header (RTKPOST) or RTCM antenna information
(RTKNAVI).
DeltaE/N/U
SetthedeltapositionofthebasestationantennaasE/N/U
offsetsofARPpositionwithrefertothemarker(m).
37
StationPositionFile
Inputthestationpositionfilepathtoretrievetheposition
fromthestationlist.Thestationpositionfileisatextfile
whichcontainsthemultiplelines.Eachlinerepresents
arecordforastation.Arecordcontains:
Latitude(deg)
Longitude(deg)
Ellipsoidalheight(m)
StationID
Stationname
separatedbyspaces.Thelinestarting%istreatedasthe
commentline.Anexamplestationpositionfileisfoundat
rtklib_<ver>\data\stations.pos.
SINEX station positions can be used as well. An sample

SINEXfileisfoundat
rtklib_<ver>\data\igs10P1565_wocov.snx
If you set Station Position File in Files tab, you can select the potion of the rover or the basestation
antennafromthestationlistinStationsdialogbypushing...button.YoucanloadLat/Lon/Hgtformator
SINEXformatfile.Thefiletypeisautomaticallyrecognized.YoucansearchastationIdorNamewithFind
buttonwithaspecifiedwordintheFindfield.
38
(6)Files


SatelliteAntenna
PCVFileANTEX
If you use the precise ephemeris or SSR correction, input
the ANTEX antenna parameters file path for the satellite
antenna PCV (phase center variation) correction. Usually
uselatestigs05.atx fileprovidedbyIGS.
AnexampleoftheANTEXfileisfoundat
rtklib_<ver>\data\igs05.atx.
ReceiverAntenna
PCVFileANTEXor
NGS
Ifyouapplythereceiverantennaphasecenteroffsetand
PCV correction, input ANTEX or NGS type antenna
parametersfilepath.
Anexampleoftheantennaparameterfileisfoundat
rtklib_<ver>\data\igs05.atx.
or
rtklib_<ver>\data\ngs_abs.pcv.
GeoidDataFile
Input the file path of the geoid data file if selecting the
externalmodelasGeoidModel.
IonosphereData
File
(reserved)
DCBDataFile
Input the file path of DCB correction for PPP in CODE
format.
Anexampleoftheantennaparameterfileisfoundat
rtklib_<ver>\data\P1C1_ALL.DCB
rtklib_<ver>\data\P2C2.DCB
rtklib_<ver>\data\P1P2_ALL.DCB
OceanLoadingBLQ
Format
(current version does not support ocean loading
correction)
GoogleEarthExe
File
InputtheexecutionfilepathofGoogleEarth. RTKPOSTonly
FTP/HTTPLocal
Directory
Input the local directory for FTP/HTTP download. The
downloadedfilesaresaveinthedirectory.
RTKNAVIonly
39
(6)Misc(RTKNAVI)

ProcessingCycle
Settheprocessingcycletimeofinms.Usuallyset100ms
orlessvalue.
Timeout/
ReConnectInterval
SetthetimeoutandreconnectintervalforTCPclientand
NTRIPclientconnectionsinms.Ifthetimeouttime
expiredwithoutseverresponse,RTKNAVIretriesto
connecttoserverafterwaitingforthereconnectinterval.
FileSwapMargin
If output or log file swap enabled, set the overlapped
periodsbetweenthepreviousandthenewoutputfilesin
second.Ifyousetitto0,theperiodsofthesefilesarenot
overlapped. This feature is to avoid the missing of
transientdatabytheoutputfileswapping.
NMEA
TransmissionCycle
SettheNMEAGPGGAtransmissioncycletoNRTKserver
inms.
InputBufferSize
Settheinternalinputmessagebuffersizeinbytes.Usually
setitto32768ormore.
SolutionBuffer/Log
Size
Settheinternalsolutionbuffersizeandlogsizeinepochs.
ToincreasethelengthofthereceivertrajectoryonRTK
Map,increasethesolutionbuffersize.
NavigationMessage
Selection
Selectnavigationmessagestobeused.
(1)All:Inanyoftheinputstreams
(2)Rover:Intheroverreceiverstream
(3)BaseStation:Inthebasestationreceiverstream
(4)Correction:Inthecorrectionstream
SBASSatellite
Selection
IfSBASDGPScorrectionenabled,inputSBASsatellite
PRNnumbertobeused.Ifyouinput0,allavailableSBAS
satellitesareused.
MonitorPort
Number
Set monitor port number. The monitor port is TCP server
porttoconnectfromoutsideorbyRTKPLOTforrealtime
solution monitor. If multiple instances of RTKNAVI are
generated,thefollowingnumbersareusedautomatically.
If0isset,themonitorportisnotused.
Default:52001
40
HTTP/NTRIPProxy
Set HTTP/NTRIP proxy server address and port number
as <address>:<port> form to connect the NTRIP
CasterviaaHTTPProxyserver.
SolutionFont Selectthefontofthesolutiondisplayinthemainwindow.
(7)Misc(RTKPOST)

TimeInterpolation
ofBaseStation
ObservationData
SelectONtoenabletimeinterpolationofbasestationdata.
If selecting ON, the base station data are linearly
interpolatedtotheroverepochandDD
(doubledifference) is made with them. If not checked,
nearestepochofbasestationdataisusedforDD.
SBASSatellite
Selection
IfSBASDGPScorrectionenabled,inputSBASsatellite
PRNnumbertobeused.Ifyouinput0,allavailableSBAS
satellitesareused.
StationIDList
Forbatchprocessingwithmultipleinputfilesormultiple
sessions,youcansetinputfilepathsoroutputfilepath
containingthefollowingkeywords.
%Y, %y, %m, %d, %n, %W, %D, %h, %H, %r, %b
Thekeywordsarereplacedbythepropervaluesor
expandedformultiplesessionanalysis.
Toenabletimekeywords,setTimeStart,TimeEndand
Unit(optional)inthemainwindow.Forkeywords%r,%b,
inputRoverListorBaseStationListbelow.
Foronlinereference,push?button.
Rovers
InputtheroverIDlisttoreplacekeyword%rininputand
outputfilepaths.Thelinestartingwith#istreatedasa
comment.
41
BaseStations
InputthebasestationIDlisttoreplacekeyword%bin
input and output file paths. The line starting with # is
treatedasacomment.
42
3.6 Convert Receiver Raw Data to RINEX with RTKCONV
RINEX(ReceiverIndependentExchangeFormat)isastandardGPS/GNSSdataformatsupportedbymany
receiversorGPS/GNSSpostprocessinganalysissoftware.RTKLIBpostprocessinganalysisAPRTKPOST
canalsohandleRINEXdatafilesasinputs.ForpreparingRINEXfiles,RTKLIBprovidestheconverterAP
RTKCONV, which translates receiver raw data to RINEX OBS (observation data), RINEX NAV (GPS
navigation messages) and RINEX GNAV (GLONASS navigation messages). RTKCONV can also extract
SBASmessagesfromthereceiverrawdataandoutputtheSBASlogfile.
ThesupportedRINEXversionis2.10or2.11.RINEX3.0willbesupportedbythefutureversion.Refer
theAppendixB.2SBASLogFilefortheSBASlogfileformat.
(1) Execute the binary AP file rtklib_<ver>\bin\rtkconv.exe. You can see the main window of
RTKCONV.
(2) InputthereceiverrawdatafilepathtothetextfieldRTCM,RCVRAWorRINEXOBS.Fillinthefile
pathdirectlyorselectthefilewiththefileselectiondialogbypushing ... button.Youcanalsodrag
anddroptheiconoftherawdatafiletothemainwindowofRTKCONV.Supportedreceiverrawdata
formatsareasfollows.ReferReleaseNotesfordetailedsupportedmessages.
(a)RTCM2 :RTCM2.3
(b)RTCM3 :RTCM3.0or3.1
(c)NovAtelOEM4/V :NovAtelOEM4/Vbinaryformat
(d)NovAtelOEM3 :NovAtelOEM3(Millennium)binaryformat
43
(e)ublox :ubloxLEA4T,5T,6Tbinaryformat
(f)SuperstarII :NovAtelSuperstarIIbinaryformat
(g)Hemisphere :HemisphereCrescent/Eclipsebinaryformat
(h)SkyTraq :SkyTraqS1315Fbinaryformat
(i)GW10 :FurunoGW10II/IIIbinaryformat
(j)Javad :JAVADGRIL/GREISbinaryformat
(k)RINEX :RINEXOBSformat.
Ifthewildcard(*)isusedinthefilepath,wildcardexpandedmultiplefileswillberead.Bysetting
RINEXastheinputfileformatandsettingoutputRINEXversion,youcanconvertRINEXversion2to
version3orRINEXversion3toversion2.
(3) SelecttheformatwiththepulldownmenuFormat.IfyouselectAuto,RTKCONVrecognizesthefile
formataccordingtothefollowingfileextensions.
(a)RTCM2 :.rtcm2
(b)RTCM3 :.rtcm3
(c)NovAtelOEM4/V :.gps
(d)ublox :.ubx
(e)SuperstarII :.log
(f)Hemisphere :.bin
(g)SkyTraq :.stq
(h)Javad :.jps
(i)RINEX :.obs,.*o, .*O
(4) Input the output paths of RINEX OBS (observation data), RINEX NAV (GPS navigation messages),
RINEXGNAV(GLONASSnavigationmessages),RINEXHNAV(GEOsatellitenavigationmessages),
RINEXQNAV(QZSSnavigationmessages)andSBASLogfiles.Fillinthefilepathdirectlyorselectthe
filewiththefileselectiondialogbypushing...button.Ifyoudonotcheckthecheckboxleft,thefileis
not output. RINEX GNAV, HNAV and QNAV are supported only in RINEX version 2. If selecting
version 3 as output RINEX, all navigation data are output to a combined NAV type RINEX file. The
output files can include keywords. The keywords are replaced by time, date or station ID. Push ?
button,toreferthekeywordreplacementsinoutputfiles.
(5) Ifyouwanttooutputthefilestoadirectory,checkOutputDirectoryandinputtheoutputdirectory.
Thedirectorycanbeselectedbypushing...button.IftheOutputDirectoryisnotchecked,thefilesare
44
output to the same directory of the input file. If the output directory is not exist, the directory is
automaticallycreated.However,theparentdirectoryalwayshastobeexistforthedirectorycreation.
(6) You can set the start time orend time optionally by checking and setting Time Start (GPST) or Time
End(GPST)fieldupperinthemainwindow.Youcanalsosetthetimeintervaloptionbycheckingand
settingthefieldInterval.IfyouinputTimeStartandTimeEnd,checkUnitandinputTimeUnit,you
caninitiatemultiplesessionconversion.Inthiscase,pleaseincludekeywordstobereplacedbydate
and time in the input file path and the output file paths. Note that RTKCONV does not confirm the
overwriteiftheoutputfileexistsinsuchmultisessionconversion.
(7) You can push Options... button to configure RINEX options. Set the options for RINEX headers,
navigationsystems,observationtypesorfrequencieswithOptionsdialog.IfyoucheckRINEXName,
the output file paths are compliant to the RINEX file name convention. Please input Station ID to
complete the output file names for RINEX file name convention. The Option field is
receiverdependentoptions.SpecifytheoptionlikeEPHALL.Fordetails,referthecommentinthe
sourcecodesinrtklib_<ver>\src\rcv\<receiver>.c.
(8) Push Convert button to start converting the receiver raw data to RINEX and SBAS log files. If you
wanttostoptheconversionontheway,push Abort button.Thestatusisdisplayedinthemessage
area lower center in the main window. The message O=nnn means the number of converted
observationdata(epochs).ThemessageN=nn, G=nn, H=nn,S=nnn, Q=nnn andE=nnnmeansthe
number of navigation messages (NAV, GNAV, HNAV and QNAV), SBAS messages and errors,
respectively.
45
(13) Afterfinishingtheconversion,youcanseetheobservationdataplotbypushing Plot... buttonwith

RTKPLOT.Refer3.7PlotandViewSolutionsandObservationDatafordetails.Youcanalsoviewthe
outputfilewithTextViewerbypushing button.
(14) By pushing Process... button, youcan execute RTKPOST_MKL AP to processtheconverted RINEX

OBS/NAVfiles.Refer3.4PostprocessingAnalysiswithRTKPOSTfordetails.
46
3.7 View and Plot Solutions and Observation Data with RTKPLOT
RTKLIB contains the AP RTKPLOT to view and plot the positionig solutions by RTKLIB or RINEX
observationdatawithgraphicaluserinterface.
(1) Execute the binary AP file rtklib_<ver>\bin\rtkplot.exe. You can see the main window of
RTKPLOT.BypushingPlot...buttonorsomebuttonsofRTKPOSTandRTKCONV,RTKPLOTisalso
executed.
(2) ExecutethemenuFileOpenSolution1andselectthesolutionfilewiththefileselectiondialog.
TheinputsolutionfilecanbeRTKLIBsolutionformatorNMEA0183.IfthefileformatisNMEA,the
file has to contain at least GPRMC and GPSGGA sentences. If the solution file is valid, the receiver
groundtrackisplotinthewindowonthemap.Thecolorofthemarks,linesandgridintheplotcanbe
changedwithmenuEditOptions.Thestatusbaratthebottomofthemainwindowalsoshowsthe
timerange,thenumberofsolutionepochs(N=nnnn),thebaselinelength(B=0.0-x.xkm),thenumber
and percentage of each quality solutions (Q=1:nnn(pp%), 2:nnn(pp%),...). The quality flag Q
andthemarkercolormeans:1:Fixed,2:Float,4:DGPS,5:Single(thecolorsarechangeablewiththe
plotoptions).ToscreenthemarksbythequalityflagQ,selectthesecondpulldownmenuintheTool
Bar.BydraganddropofthesolutionfileicontothemainwindowofRTKPLOT,youcanalsoreadand
plotthesolutionfile.
StatusBar
ToolBar
Reload/
Clear
Button
Time
Scrollbar
PlotType
Selection
PlotArea
Tool
Buttons
47
(3) Bydraggingthemousewiththeleftbuttondownontheplot,youcandragthemapup,down,leftand
right.Youalsochangethescaleofthemapbydraggingthemouseupordownwiththerightbutton
orbyrotatingthescrollwheelofthemouse.
(4) By selecting the pull down menu right in Tool Bar, you can switch the plot to E/N/U components of
receiverposition(Position),E/N/Ucomponentsofreceivervelocity(Velocity)orE/N/Ucomponentsof
receiveracceleration(Accel).YoucandragtheX/Yaxiswiththeleftbuttondraggingandchangethe
scalewiththerightbuttondraggingattheX/Yaxisarea.
48
(5) ByselectingthepulldownmenurightinToolBar,youcanswitchtheplottoNSat/Age/Ratio(number
of valid satellites, age of differential, ratio factor of ambiguity validation). If you set Output Solution
StatusoptiontoResiduals,youcanshowtheresidualsplotbyselectingL1Residuals,L2Residualsor
L5Residuals.Inresidualsplotmode,youcanselectasatellitewithrightpulldownmenuaswellasall
satellites.Intheresidualsplotofcarrierphase,theredlinesindicatecycleslipsandgraylinesindicate
parityunknownflags(Thatmeanthehalfcycleambiguitiesincarrierphasearenotresolved).
49
(6) ByopetatingtoolbuttonsinToolBar,youcancenterthecurrentpositionwith ,adjustthescaleof

Xaxiswith ,adjustthescaleofYaxiswith ,displaythecurrentpositionasalargemarkwith ,
fixthecurrentpositionatthehorizontalcenterwith ,fixthecurrentpositionattheverticalcenter
with , start animation with and stop animation with . You can also slide Time Scroll Bar to
changetheepochofthecurrentposition.Toclearreaddata,executethemenuFileClearorpush
buttoninToolBar.Toreloadthesolutionfile,executethemenuFileReloadorpush button
inToolBar.
(7) By executing the menu File Open Map Image, you can read a JPEG image and draw the map
image on the background of Gnd Trk plot. The image can be enabled or disabled by pushing
buttoninToolBar.
(8) Toadjustthepositioninthemapimage,executethemenuEditMapImageandinputlatitudeand
longitude of the imagecenter, imagescale along X or Yaxis in Map Image dialog. If you finish it,
push Save Tag button to save the adjustment information to an imagetagfile. The path of the
imagetagfile is the original map image file path + .tag. If the imagetagfile already exists, it is
automaticallyreadwiththemapimageitself.Thecurrentversiondoesnotsupportrotationofthemap
image. Please select the map image in which the north direction is properly aligned to the upper
direction.Forexample,youcangetaJPEGimagebythemenuFileSaveofGoogleEarth.Tofix
north to upper, push N button in Google Earth. To avoid the distortion of the map image, set the
50
coordinatesorigininsideofornearthemapimage.
(9) By executing the menu Edit Waypoints..., you can see the Waypoints dialog. With the dialog,
youcanload,save,addanddeletethewaypointsasthelistform.BypushingAddbuttonandediting
thepointname,thecurrentreceiverpositioncanbeaddedtothewaypointlist.Thepositionsofthe
waypointsareshownontheGndTrkplotwhen buttondown.
(10) Toplotmultiplesolutionfile,executethemenuFileOpenSolutions2andselectfilewiththefile
selectiondialog.Youcanswitchtheploton/offofthesolution1and2with12buttonsinToolBar.
ToPlotthedifferenceofthesolution1andthesolution2,push12buttoninToolBar.
(11) Tosetthetimerangeandtimeintervalofthesolutions,executethemenuEditTimeSpan/Interval
andcheckandsettheTimeStart,TimeEndandIntervalfieldinTimeSpan/Intervaldialog.
51
(12) ByExecutingthemenuEditSolutionSource,youcanviewthesourceofsolutionsasthetextform.
(13) To plot solutions in realtime, execute the menu FileConnection Settings and set solution
parameters inConnection Setting dialog.You can selectStream Type, Stream Option (Opt), Stream
Commands(Cmd),SolutionFormat,TimeFormat,Lat/LonFormatandFieldSepforbothofsolution1
andsolution2.Aftersettingtheconnectionparameters,executethemenuFileConnectorpush
buttoninToolBar.Todisconnecttheexternaldevice,executemenuFileDisconnectorpushconnect
buttonagain.Forexample,ifselectingserialasStreamTypeandNMEA0183asSolutionFormat,you
canmonitorexternalreceiversNMEAoutputintheRTKPLOTwindow.
52
(14) Bypushing Plot... buttonofRTKNAVI,RTKPLOTautomaticallyrunsandconnectstothemonitor

port of RTKNAVI. If you want to connect to RTKNAVI executed on the remote PC, input the
connection setting like TCP Client as Stream Type, IP address of the remote PC and port number of
monitor port of RTKNAVI and connect to the remote RTKNAVI. In this case, multiple client
connectionsareallowed.
(15) To plot the RINEX observation data, execute menu File Open Obs Data and select the RINEX
observationandnavigationmessagefiles.YoucanselectmultipleRINEXfiles.Ifyoudonotselectthe
RINEX navigation message file, RTKPOST reads the observation data file paths with the extension
replaced by .*nav (.obs) or .yyN,.yyG,.yyH,.yyQ (.yyO) as the GPS, GLONASS, SBAS and
QZSS navigation data. If you want read the RINEX navigation message file separately, execute the
menu File Open Nav Messages. If the input files can be read properly, you can see the satellite
visibility or the observation data availability plot. You can use leftbutton or rightbutton drag to
changethetimespan.YoucanalsousesometoolbuttonsinToolBaraswellasforthesolutionplot.
53
(16) By selecting the pulldown menu in Tool Bar, you can switch the plot tosatellite visibility in skyplot
(SkyPlot)orplotofnumberofvisiblesatellitesandDOP(Sats/DOP).Youcanapplytheelevationmask
byreadingtheelevationmaskdatabythemenuFileOpenElevMaskandbysettheoptionElev
Mask Pattern ON. For the format of the elevation mask data, refer the example file found in
rtklib_<ver>\data\elmask_sample.txt.
54
(17) By Executing the menu Edit Obs Data Source or Obs Data QC, you can view the source of
solutionsortheQCresultasthetextform.
55
(18) To configure the plotting options,execute the menu Edit Options...and set the options with the
followingOptionsdialog.

TimeFormat Selecttimeformat.
ShowStatistics Setwhetherstatisticsareshownornot.
CycleSlip
Setwhethercycleslippositionisshownornotinobservation
datadisplay.Cycleslipsareshownasredverticallinesinthe
observationdataplot.
56
ParityUnknown
Setwhetherparityunknownstatusisshownornotin
observationdatadisplay.Parityunknownepochsareshownas
grayverticallinesintheobservationdataplot.
Ephemeris
Set whether ephemeris status is shown or not in observation
datadisplay.Ephemeridesareshownasthegreylineunderthe
observationdataplot.GraydotsmeanstheToe.Redephemeris
plotmeansthesatelliteisunhealthy.
ElevationMask
Settheelevationmaskangle(deg)forobservationdatadisplay.
TheelevationmaskisalsousedforDOPcomputation.
HideLowSatellite
Setwhetherlowelevationsatellitesundertheelevationmaskis
shownornot.
MaximumDOP SettheyaxislimitofDOPplot.
SatelliteSystem Selectthenavigationsystemstobeplotted.
ExcludedSats
Setexcludedsatellites.FillinthesatellitenumberorID
separatedbyspaces.
ErrorBar/Circle
Setwhethererrorbarorerrorcircleisshownornotinsolution
display.YoucanselectBar/CircleofDotsastheformat.
DirectionArrow
Setwhetherdirectionarrowandvelocityarrowisshownornot
insolutiongroundtrackdisplay.
GraphLabel Setwhethergraphlabelsareshownornotinsolutiondisplay.
Grid/GridLabel
Set whether grid and grid labels are shown or not in solution
display.
Compass
Setwhethercompassisshownornotinsolutiongroundtrack
display.
Scale
Set whether scale is shown or not in solution ground track
display.
AutoFit Setwhetherscaleisadjustedautomaticallyornot.
YRange(+/) SettherangeofYaxisinsolutiondisplay.
RTBufferSize
Settherealtimeplotbuffersizeinepochs.Theoldersolutions
overthebuffersizeisdeletedinrealtimeplot.
CoordinateOrigin
Selecttheoriginpositionofsolutiondisplayasfollows.
StartPos,EndPos,AveragePos,LinearFitPos
BaseStation,Lat/Lon/Hgt,AutoInput,Waypoint110.
If you select Lat/Lon/Height, you have to input latitude,
longitudeandellipsoidalheightinthetextfieldsbelowforthe
origin. If selecting Auto Input, receiver ID is assumed as the
4charactors of the solution file name head and the position is
readfromthepositionfile.Thepositionfilecanbeselectedby
pushing...buttonandpushingLoadbuttoninthepositionlist
dialog.
MarkColor1
Set the mark colors for solution No. 1 or observation data in
plots. Click color panel right and select color with color
selectiondialog.
MarkColor2 SetthemarkcolorsforsolutionNo.2inplots.
LineColor Setthelinecolorinplots.
TextColor Setthetextcolorinplots.
GridColor Setthegridcolorinplots.
BackgroundColor Setthebackgroundcolorinplots.
PlotStyle Selecttheplotstyleinplots.
MarkSize Setthemarksizeinplots.
57
Font
Selectthefontinplots.Push...buttonandselectthefontwith
fontselectiondialog.
Anim.Interval
Settheanimationintervalforsolutionorobservationdata
display.
UpdateCycle(ms) Settheplotupdatecycletimeinmsforrealtimeplotting
Lat/Lon/Hgt
Set latitude, longitude and height for the origin. Fill in the
valuesdirectlyorpush...buttonandselectthestationposition.
QCCommand
SetQCcommandanditsoptionsforobservationdata.
As default, TEQC QC mode options are set. The command is
used for executing the menu Edit Obs Data QC.... The
command must be in the command search path or in the
directoryfortheRTKLIBexecutablefiles.
58
3.8 NTRIP Source Table Browser
NTRIP(NetworkedTransportofRTCMviaInternetProtocol)isacommunicationprotocoltointerchange
GPS/GNSS related data such as receiver raw observation data, ephemerides and corrections for DGPS or
RTKGPS. NTRIP specifies the table format of socalled Source Table, which represents contents list of
provideddatabyNTRIPservers.RTKLIBincludesasimplebrowserforNTRIPSourceTables.
(1) ExecutethebinaryAPfilertklib_<ver>\bin\srctblbrows.exe.Youcanseethemainwindow
ofNTRIPSourceTableBrowser.
(2) Push button upper left in the main window, leaving right pull down menu of NTRIP caster list
blank.Ifthebottomstatusbarshowsconnecting...andthenupdatecasterlist,theNTRIPcasterlist
isupdated.Ifthepulldownmenuisblank,thebrowseracquirestheNTRIPcasterlistfromthedefault
NTRIPinfocasterrtcm-ntrip.org:2101andupdatethelist.Tochangethesourceofthelist,fillthe
NTRIPcasteraddressastheformof<address>:<port> inthepulldownmenuandpush button.
Ifyouomitportnumber,thebrowserusesthedefaultportnumber2101.
(3) Select the caster in the pull down menu and push button. If the status bar shows source table
received, the browser properly received a NTRIP Source Table from the selected NTRIP caster and
showsitinthewindow.Thestatusbaralsoindicatetheerrormessageifaproblemarises.
59
(4) Bypushingfieldtitle,youcansortthelist.Youalsocanpush STR, CAS,NET,SRCtoswitchthe

contentsoftheSourceTabletoStreamList,CasterList,NetworkListandOriginalSourceTable.
60
3.9 Use Console APs of RTKLIB
RTKLIBincludesthefollowingconsoleAPs.ToexecutetheAPs,
TheseAPsonlyusestandardCfunctions.SoyoucanrebuildtheAPsonthenonWindowsenvironment
likeLINUX,UNIX,MACOSXandsoon.RTKLIBalsocontainsstandardmakeenvironmentforgcc.Refer
AppendixARTKLIBConsoleAPCommandsfordetailedthecommandlineoptionsfortheseAPs.
(1)RTKRCV
RealtimePositioning.TheconsoleAPversionofRTKNAVI.
(2)RNX2RTKP
PostProcessingAnalysis.TheconsoleAPversionofRTKPOST.
(3)POS2KML
GoogleEarthKMLconverterforsolutionfiles.
(4)CONVBIN
RINEXConverterofreceiverrawdata.TheconsoleAPversionofRTKCONV.
(5)STR2STR
StreamServer.ConsoleAPversionofSTRSVR.
61
4 Develop and Link user AP with RTKLIB
RTKLIB provide the following general purpose Cfunctions callable from user application program (AP).
UsercanusethesefunctiontodevelopuseroriginalpositioningAPs.
(1) Matrixandvectorfunctions
(2) Timeandstringfunctions
(3) Coordinatestransformationandgeoidmodel
(4) Navigationprocessing
(5) Positioningmodels(troposphere,ionosphere,antennaPCV)
(6) SBASDGPS/DGNSScorrection
(7) Singlepointpositioning
(8) Carrierbasedandcodebasedrelativepositioning
(9) OTFintegerambiguityresolution
(10) Receiverrawbinarydatainput
(11) Positioningsolution/NMEAinput/output
(12) RINEXobservationdata/navigationmessageinput/output
(13) Preciseephemerisinput
(14) Streamdatacommunicationlibrary
(15) NTRIP(NetworkedTransportofRTCMviaInternetProtocol)library
(16) RTKGPS/GNSSpositioningserver
(17) RTCM2.3and3.0/3.1messagehandling
ThefollowinginstructionsshowsthewaytoutilizethelibraryofRTKLIBinuserAP.
(1) AddthefollowingincludedirectivetothesourceprogramofuserAP.
#include "rtklib.h"
(2) SetthefollowingcompileroptiontoaddRTKLIBsourcedirectorypathtocompilerincludepaths.
-I rtklib_<ver>\src
(3) AddthenecessaryRTKLIBlibrarysourcefilestosourceprogramssetfortheAPbuild.ReferAppendix
CLibraryAPIsfordetailedlibraryfunctionsandsourceprogramsinRTKLIB.
62
Appendix A Console AP Commands
A.1 RTKRCV

SYNOPSIS
r t kr cv [ - s] [ - p por t | - d dev] [ - o f i l e] [ - t l evel ]

DESCRIPTION
A command l i ne ver si on of t he r eal - t i me posi t i oni ng AP by r t kl i b. To st ar t or st op
RTK ser ver , t o conf i gur e opt i ons or t o pr i nt sol ut i on/ st at us, l ogi n a consol e and
i nput commands. As def aul t , st di n/ st dout ar e used f or t he consol e. Use - p opt i on
f or net wor k l ogi n wi t h t el net pr ot ocol . To show t he avai l abl e commands, t ype ? or
hel p on t he consol e. The i ni t i al pr ocessi ng opt i ons ar e l oaded f r om def aul t
conf i gur at i on f i l e r t kr cv. conf . To change t he f i l e, use - o opt i on. To conf i gur e
t he pr ocessi ng opt i ons, edi t t he conf i gur at i on f i l e or use set , l oad or save command
on t he consol e. To shut down t he pr ogr am, use shut down command on t he consol e or
send USR2 si gnal t o t he pr ocess. For conf i gur at i on f i l e, r ef er B. 4.

OPTIONS
- s st ar t RTK ser ver on pr ogr amst ar t up
- p por t por t number f or t el net consol e
- mpor t por t number f or moni t or st r eam
- d dev t er mi nal devi ce f or consol e
- o f i l e conf i gur at i on f i l e
- r l evel out put sol ut i on st at us f i l e ( 0: of f , 1: st at es, 2: r esi dual s)
- t l evel debug t r ace l evel ( 0: of f , 1- 5: on)

COMMANDS
st ar t
St ar t RTK ser ver . No need t he command i f t he pr ogr amr uns wi t h - s opt i on.

st op
St op RTK ser ver .

r est ar t
63
Rest ar t RTK ser ver . I f t he pr ocessi ng opt i ons ar e set , execut e t he command t o enabl e
t he changes.

sol ut i on [ cycl e]
Show sol ut i ons. Wi t hout opt i on, onl y one sol ut i on i s shown. Wi t h opt i on, t he
sol ui t on i s di spl ayed at i nt er val s of cycl e ( s) . To st op cycl i c di spl ay, send br eak
( ct r - C) .

st at us [ cycl e]
Show RTK st at us. Use opt i on cycl e f or cycl i c di spl ay.

sat el l i t e [ cycl e]
Show sat el l i t e st at us. Use opt i on cycl e f or cycl i c di spl ay.

obser v [ cycl e]
Show obser vat i on dat a. Use opt i on cycl e f or cycl i c di spl ay.

navi dat a [ cycl e]
Show navi gat i on dat a. Use opt i on cycl e f or cycl i c di spl ay.

st r eam[ cycl e]
Show st r eamst at us. Use opt i on cycl e f or cycl i c di spl ay.

er r or
Show er r or / war ni ng messages. To st op messages, send br eak ( ct r - C) .

opt i on [ opt ]
Show t he val ues of pr ocessi ng opt i ons. Wi t hout opt i on, al l opt i ons ar e di spl ayed.
Wi t h opt i on, onl y pat t er n- mat ched opt i ons ar e di spl ayed.

set opt [ val ]
Set t he val ue of a pr ocessi ng opt i on t o val . Wi t h out opt i on val , pr ompt message
i s shown t o i nput t he val ue. The change of t he pr ocessi ng opt i on i s not enabl ed
bef or e RTK ser ver i s r est ar t ed.

l oad [ f i l e]
64
Load pr ocessi ng opt i ons f r omf i l e. Wi t hout opt i on, def aul t f i l e r t kr cv. conf i s used.
To enabl e t he changes, r est ar t RTK ser ver .

save [ f i l e]
Save cur r ent pr ocessi ng opt ons t o f i l e. Wi t hout opt i on, def aul t f i l e r t kr cv. conf
i s used.

l og [ f i l e| of f ]
Recor d consol e l og t o f i l e. To st op r ecor di ng t he l og, use opt i on of f .

hel p| ? [ pat h]
Show t he command l i st . Wi t h opt i on pat h, t he st r eampat h opt i ons ar e shown.

exi t
Exi t and l ogout consol e. The st at us of RTK ser ver i s not af f ect ed by t he command.

shut down
Shut down RTK ser ver and exi t t he pr ogr am.

! command [ ar g. . . ]
Execut e command by t he oper at i ng syst emshel l . Do not use t he i nt er act i ve command.

NOTES
Shor t f or m of a command i s al l owed. I n case of t he shor t f or m, t he command i s
di st i ngui shed accor di ng t o header char act er s.

65
A.2 RNX2RTKP
SYNOPSIS
r nx2r t kp [ opt i on . . . ] f i l e f i l e [ . . . ]
DESCRIPTION
Read RI NEX OBS/ NAV/ GNAV/ HNAV/ CLK, SP3, SBAS message l og f i l es and comput e r ecei ver
( r over ) posi t i ons and out put posi t i on sol ut i ons. The f i r st RI NEX OBS f i l e shal l
cont ai n r ecei ver ( r over ) obser vat i ons. For t he r el at i ve mode, t he second RI NEX OBS
f i l e shal l cont ai n r ef er ence ( base st at i on) r ecei ver obser vat i ons. At l east one
RI NEX NAV/ GNAV/ HNAV f i l e shal l be i ncl uded i n i nput f i l es. To use SP3 pr eci se
ephemer i s, speci f y t he pat h i n t he f i l es. The ext ensi on of t he SP3 f i l e shal l be . sp3
or . eph. Al l of t he i nput f i l e pat hs can i ncl ude wi l d- car ds ( *) . To avoi d command" ,
l i ne depl oyment of wi l d- car ds, use " . . . " f or pat hs wi t h wi l d- car ds. Command l i ne
opt i ons ar e as f ol l ows ( [ ] : def aul t ) . Wi t h - k opt i on, t he pr ocessi ng opt i ons ar e
i nput f r om t he conf i gur at i on f i l e. I n t hi s case, command l i ne opt i ons pr ecede
opt i ons i n t he conf i gur at i on f i l e. For conf i gur at i on f i l e, r ef er B. 4.
OPTIONS
- ? pr i nt hel p
- k f i l e i nput opt i ons f r omconf i gur at i on f i l e [ of f ]
- o out put out put f i l e [ st dout ]
- t s ds t s st ar t day/ t i me ( ds=y/ m/ d t s=h: m: s) [ obs st ar t t i me]
- t e de t e end day/ t i me ( de=y/ m/ d t e=h: m: s) [ obs end t i me]
- t i t i nt t i me i nt er val ( sec) [ al l ]
- p mode mode ( 0: si ngl e, 1: dgps, 2: ki nemat i c, 3: st at i c, 4: movi ngbase
5: f i xed, 6: ppp- ki nemat i c, 7: ppp- st at i c) [ 2]
- mmask el evat i on mask angl e ( deg) [ 15]
- f f r eq number of f r equenci es f or r el at i ve mode ( 1: L1, 2: L1+L2, 3: L1+L2+L5) [ 2]
- v t hr es val i dat i on t hr eshol d f or i nt eger ambi gui t y ( 0. 0: no AR) [ 3. 0]
- b backwar d sol ut i ons [ of f ]
- c f or war d/ backwar d combi ned sol ut i ons [ of f ]
- i i nst ant aneous i nt eger ambi gui t y r esol ut i on [ of f ]
- h f i x and hol d f or i nt eger ambi gui t y r esol ut i on [ of f ]
- e out put x/ y/ z- ecef posi t i on [ l at i t ude/ l ongi t ude/ hei ght ]
66
- a out put e/ n/ u- basel i ne [ l at i t ude/ l ongi t ude/ hei ght ]
- n out put NMEA- 0183 GGA sent ence [ l at i t ude/ l ongi t ude/ hei ght ]
- g out put l at i t ude/ l ongi t ude i n t he f or mof ddd mmss. ss' [ ddd. ddd]
- z out put hei ght i n geodet i c hei ght [ el l i psoi dal ]
- t out put t i me i n t he f or mof yyyy/ mm/ dd hh: mm: ss. ss [ sssss. ss]
- u out put t i me i n ut c [ gpst ]
- d col col umns of t i me under deci mal poi nt [ 3]
- s sep f i el d separ at or [ ' ' ]
- r x y z r ef er ence ( base) r ecei ver ecef pos ( m) [ aver age of si ngl e pos]
- l l at l on hgt r ef er ence ( base) r ecei ver l at i t ude/ l ongi t ude/ hei ght ( deg/ m)
- y l evel out put sol ut i on st at us ( 0: of f , 1: st at es, 2: r esi dual s) [ 0]
- x l evel debug t r ace l evel ( 0: of f ) [ 0]

EXAMPLES
Exampl e 1. Ki nemat i c Posi t i oni ng, L1+L2, out put Lat i t ude/ Longi t ude/ Hei ght t o
STDOUT.

> r nx2r t kp 07590920. 05o 30400920. 05o 30400920. 05n

Exampl e 2. Si ngl e Poi nt Posi t i oni ng, El Mask=15deg, out put NMEA GGA t o f i l e out . pos

> r nx2r t kp - p 0 - m15 - n - o out . pos 07590920. 05o 30400920. 05n

Exampl e 3. St at i c Posi t i oni ng, L1, t i me f or myyyy/ mm/ dd hh: mm: ss, out put X/ Y/ Z- ECEF
posi t i ons

> r nx2r t kp - p 3 - f 1 - t - e 07590920. 05o 30400920. 05o 30400920. 05n

Exampl e 4. Ki nemat i c Posi t i oni ng, I nst ant aneous AR, val i dat i on t hr eshol d=2, comma
separ at or

> r nx2r t kp - i - v 2 - s , 07590920. 05o 30400920. 05o 30400920. 05n
67
A.3 POS2KML
SYNOPSIS
pos2kml [ opt i on . . . ] f i l e [ . . . ]
DESCRIPTION
Read posi t i on f i l e( s) and conver t i t t o Googl e Ear t h KML f i l e. Each l i ne i n t he
i nput f i l e shal l cont ai n f i el ds of t i me, posi t i on f i el ds ( Lat i t ude/ Longi t ude/ Hei ght
or X/ Y/ Z- ECEF) , and Qual i t y f l ag ( opt i on) . The l i ne st ar t ed wi t h ' %' , ' #' , ' ; ' i s
t r eat ed as comment . Command opt i ons ar e as f ol l ows. ( [ ] : def aul t )
OPTIONS
- h pr i nt hel p
- o f i l e out put f i l e [ i nf i l e + . kml ]
- c col or t r ack col or
( 0: of f , 1: whi t e, 2: gr een, 3: or ange, 4: r ed, 5: yel l ow) [ 5]
- p col or poi nt col or
( 0: of f , 1: whi t e, 2: gr een, 3: or ange, 4: r ed, 5: by qf l ag) [ 5]
- a out put al t i t ude i nf or mat i on [ of f ]
- ag out put geodet i c al t i t ude [ of f ]
- t g out put t i me st amp of gpst [ of f ]
- t u out put t i me st amp of ut c [ gpst ]
- i t i nt out put t i me i nt er val ( s) ( 0: al l ) [ 0]
- q qf l g out put q- f l ags ( 0: al l ) [ 0]
- f n e h add nor t h/ east / hei ght of f set t o posi t i on ( m) [ 0 0 0]

68
A.4 CONVBIN
SYNOPSIS
convbi n [ - t s y/ m/ d h: m: s] [ - t e y/ m/ d h: m: s] [ - t i t i nt ] [ - r f or mat ] [ - r o opt s]
[ - f f r eq] [ - hc comment ] [ - hmmar ker ] [ - hn mar kno] [ - ht mar kt ype]
[ - ho obser v] [ - hr r ec] [ - ha ant ] [ - hp pos] [ - hd del t a] [ - v ver ] [ - od]
[ - os] [ - x sat ] [ - y sys] [ - d di r ] [ - c sat i d] [ - o of i l e] [ - n nf i l e]
[ - g gf i l e] [ - h hf i l e] [ - q qf i l e] [ - s sf i l e] f i l e

DESCRIPTION
Conver t RTCM, r ecei ver r aw dat a l og and RI NEX f i l e t o RI NEX and SBAS/ LEX
message f i l e. SBAS message f i l e compl i es wi t h RTKLI B SBAS/ LEX messsage
f or mat . I t suppor t s t he f ol l owi ng messages or f i l es.

RTCM 2 : Type 1, 3, 9, 14, 16, 17, 18, 19, 22
RTCM 3 : Type 1002, 1004, 1005, 1006, 1010, 1012, 1019, 1020
NovAt el OEMV/ 4, OEMSt ar : RANGECMPB, RANGEB, RAWEPHEMB, I ONUTCB, RAWWASSFRAMEB
NovAt el OEM3 : RGEB, REGD, REPB, FRMB, I ONB, UTCB
u- bl ox LEA- 4T/ LEA- 5T : RXM- RAW, RXM- SFRB
NovAt el Super st ar I I : I D#20, I D#21, I D#22, I D#23, I D#67
Hemi spher e : BI N76, BI N80, BI N94, BI N95, BI N96
SkyTr aq S1315F : msg0xDD, msg0xE0, msg0xDC
Fur uno GW- 10- I I / I I I : msg0x08, msg0x03, msg0x27, msg0x20
J avad GRI L/ GREI S : [ R*] , [ r *] , [ *R] , [ *r ] , [ P*] , [ p*] , [ *P] , [ *p] , [ D*] , [ *d]
[ E*] , [ *E] , [ F*] , [ TC] , [ GE] , [ NE] , [ EN] , [ QE] , [ UO] , [ I O]
[ WD]
RI NEX : OBS

I f any out put f i l e speci f i ed, def aul t out put f i l es ( <f i l e>. obs,
<f i l e>. nav, <f i l e>. gnav, <f i l e>. hnav, <f i l e>. qnav and <f i l e>. sbs) ar e used.

I f r ecei ver t ype i s not speci f i ed, t ype i s r ecogni zed by t he i nput
f i l e ext ensi on as f ol l ows.
*. r t cm2 RTCM 2
*. r t cm3 RTCM 3
69
*. gps NovAt el OEMV/ 4, OEMSt ar
*. ubx u- bl ox LEA- 4T/ LEA- 5T
*. l og NovAt el Super st ar I I
*. bi n Hemi spher e Ecl i pse/ Cr escent
*. st q SkyTr aq S1315F
*. j ps J avad
*. obs, *. *o RI NEX OBS

OPTIONS
f i l e i nput r ecei ver bi nar y l og f i l e
- t s y/ m/ d h: m: s st ar t t i me [ al l ]
- t e y/ m/ d h: m: s end t i me [ al l ]
- t r y/ m/ d h: m: s appr oxi mat ed t i me f or RTCM messages
- t i t i nt obser vat i on dat a i nt er val ( s) [ al l ]
- r f or mat l og f or mat t ype
r t cm2= RTCM 2
r t cm3= RTCM 3
nov = NovAt el OEMV/ 4, OEMSt ar
oem3 = NovAt el OEM3
ubx = ubl ox LEA- 4T, 5T, 6T
ss2 = NovAt el Super st ar I I
hemi s= Hemi spher e Ecl i pse/ Cr escent
st q = SkyTr aq S1315F
j avad= J avad GRI L/ GREI S
r i nex= RI NEX OBS
- r o opt r ecei ver opt i ons
- f f r eq number of f r equenci es [ 2]
- hc comment r i nex header : comment l i ne
- hmmar ker r i nex header : mar ker name
- hn mar kno r i nex header : mar ker number
- ht mar kt ype r i nex header : mar ker t ype
- ho obser v r i nex header : obser ver name and agency separ at ed by /
- hr r ec r i nex header : r ecei ver number , t ype and ver si on separ at ed by /
- ha ant r i nex header : ant enna number and t ype separ at ed by /
- hp pos r i nex header : appr ox posi t i on x/ y/ z separ at ed by /
- hd del t a r i nex header : ant enna del t a h/ e/ n separ at ed by /
70
- v ver r i nex ver si on [ 2. 10]
- od i ncl ude doppl er f r equency [ of f ]
- os i ncl ude snr [ of f ]
- x sat excl ude sat el l i t e
- y sys excl ude syst ems ( G: GPS, R: GLONASS, E: Gal i l eo, J : QZSS, S: SBAS)
- d di r out put di r ect or y [ same as i nput f i l e]
- c st ai d use RI NEX f i l e name convent i on wi t h st ai d [ of f ]
- o of i l e out put RI NEX OBS f i l e
- n nf i l e out put RI NEX NAV f i l e
- g gf i l e out put RI NEX GNAV f i l e
- h hf i l e out put RI NEX HNAV f i l e
- q qf i l e out put RI NEX QNAV f i l e
- s sf i l e out put SBAS message f i l e
71
A.5 STR2STR
SYNOPSIS
st r 2st r - i n st r eam- out st r eam[ - out st r eam. . . ] [ opt i ons]

DESCRIPTION
I nput dat a f r oma st r eamand di vi de and out put t hemt o mul t i pl e st r eams. The i nput
st r eamcan be ser i al , TCP cl i ent , TCP ser ver , NTRI P cl i ent , or f i l e. The out put
st r eamcan be ser i al , TCP cl i ent , TCP ser ver , NTRI P ser ver , or f i l e. st r 2st r i s
a r esi dent t ype appl i cat i on. To st op i t , t ype ct r - c i n consol e i f r un f or egr ound
or send si gnal SI GI NT f or backgr ound pr ocess.

OPTIONS
- i n st r eam i nput st r eampat h
- out st r eam out put st r eampat h
ser i al : / / por t [ : br at e[ : bsi ze[ : par i t y[ : st opb[ : f ct r ] ] ] ] ]
t cpsvr : / / : por t
t cpcl i : / / addr [ : por t ]
nt r i p: / / [ user [ : passwd] @] addr [ : por t ] [ / mnt pnt ]
nt r i ps: / / [ user [ : passwd] @] addr [ : por t ] [ / mnt pnt [ : st r ] ]
f i l e: / / pat h
- d msec st at us di spl ay i nt er val ( ms) [ 5000]
- s msec t i meout t i me ( ms) [ 10000]
- r msec r econnect i nt er val ( ms) [ 10000]
- n msec NMEA r equest cycl e ( m) [ 0]
- f sec f i l e swap mar gi n ( s) [ 30]
- c f i l e r ecei ver commands f i l e [ no]
- p l at l on NMEA posi t i on ( l at i t ude/ l ongi t ude) ( deg)
- l l ocal _di r f t p/ ht t p l ocal di r ect or y [ ]
- x pr oxy_addr ht t p/ nt r i p pr oxy addr ess [ no]
- t l evel t r ace l evel [ 0]
- h pr i nt hel p
72
Appendix B File Formats
B.1 Positioning Solution File

DESCRIPTION

A positioning solution file is just a text file as output of RTKNAVI or RTKPOST. The file is separated to
records or lines by CR/LF. Each records consists of fields. The following table shows the format of the
positioningsolutionfile.
No Record/Field Description Notes

1 Fileheader
Thelinesstartingwith%areheaderlines.Theheaderlines
containssomeadditionalinformationorprocessingoptionsas
follows.
% program:programversion
% inp file:Inputfilepath
% obs start:ObservationdatastarttimeinGPStime
% obs end:ObservationdataendtimeinGPStime
% pos mode:Positioningmodeoption
% freqs:Frequenciesoption
% solution:Solutiontypeoption
% elev mask:Elevationmaskangleoption
% snr mask:SNRmaskoption
% ionos est:Ionosphericparameterestimationoption
% tropos est:Troposphericparametersestimationoption
% amb res:Integerambiguityresolutionoptions
% val thres:Integerambiguityvalidationoption
% ref pos:positionoftheantennaofthebasestation
2 Fieldindicator
Fieldindicatorstartingwith%linefollowsafterFileheader.
Torecognizethefieldformats,RTKLIBusestheselines.Donot
deletethem.
3 Solutionbody
Solutionbodyconsistsofthefollowingfields.
Thefieldcontentsarevariedaccordingtothepositioningoptions.
(1) Time
Theepochtimeofthesolutionindicatingthetruereceiversignal
receptiontime(notindicatesthetimebyreceiverclock).Theformat
isvariedtotheoptions.

yyyy/mm/dd HH:MM:SS.SSS :
CalendartimeinGPST,UTCorJST,thetimesystemisindicatedin
Fieldindicator

WWWW SSSSSSS.SSS :
GPSweekandTOW(timeofweek)inseconds.
(2)
Receiver
Position
The rover receive antenna or marker position estimated varied
accordingtothepositioningoptions.
73
+ddd.ddddddddd +ddd.dddddddd hhhh.hhhh:
Latitude,longitudeindegreesandheightinm.Minusvaluemeans
southlatitudeorwestlongitude.Theheightindicatesellipsoidalor
geodeticaccordingtothepositioningoptions.
+ddd mm ss.sss +ddd mm ss.sss hhhh.hhhh:

Latitude,longitudeindegree,minuteandsecondandheightinm.
+xxxxxxxxx.xxxx +yyyyyyyyy.yyyy +zzzzzzzz.zzzz:

X/Y/ZcomponentsofECEFframeinm.

+eeeeeeeee.eeee +nnnnnnnnn.nnnn +uuuuuuuuu.uuuu:
E/N/Ucomponentsofbaselinevectorinm.Thelocalcoordinateis
referencedtotheroverposition.
(3)
Qualityflag
(Q)
Theflagwhichindicatesthesolutionquality.
1:Fixed,solutionbycarrierbasedrelativepositioningandthe
integerambiguityisproperlyresolved.
2:Float,solutionbycarrierbasedrelativepositioningbutthe
integerambiguityisnotresolved.
3:Reserved
4:DGPS,solutionbycodebasedDGPSsolutionsorsinglepoint
positioningwithSBAScorrections
5:Single,solutionbysinglepointpositioning
(4)
Numberof
validsatellites
(ns)
Thenumberofvalidsatellitesforsolutionestimation.
(5)
Standard
deviations
(sdn,sde,sdu,
sdne,sdeu,
sdun)
Theestimatedstandarddeviationsofthesolutionassumingapriori
errormodelanderrorparametersbythepositioningoptions.
Thesdn,sdeorsdumeansN(north),E(east)orU(up)
component of the standard deviations in m. The absolute value of
sdne,sdeuorsdunmeanssquarerootoftheabsolutevalueofNE,
EUorUNcomponentoftheestimatedcovariancematrix.Thesign
representsthesignofthecovariance.Withallofthevalues,usercan
reconstructthefullcovariancematrix.
(6)
Ageof
differential
(age)
The time difference between the observation data epochs of the
roverreceiverandthebasestationinsecond.
(7)
Ratiofactor
(ratio)
Theratiofactorofratiotestforstandardintegerambiguity
validationstrategy.Thevaluemeanstheratioofthesquaredsumof
the residuals with the second best integer vector to with the best
integervector.

EXAMPLE

%pr ogr am : RTKLI B ver . 2. 3. 0b
%i np f i l e : G: \ r t kl i bt est \ 20090831\ omr e196a. 09o
%i np f i l e : G: \ r t kl i bt est \ 20090831\ t evc196a. 09o
%i np f i l e : G: \ r t kl i bt est \ 20090831\ omr e196a. 09n
%obs st ar t : 2009/ 07/ 15 07: 10: 00. 0 GPST ( week1540 285000. 0s)
%obs end : 2009/ 07/ 15 07: 59: 50. 0 GPST ( week1540 287990. 0s)
%pos mode : ki nemat i c
%f r eqs : L1+L2
74
%sol ut i on : f or war d
%el ev mask : 15. 0 deg
%snr mask : 0. 0 dBHz
%i onos est : on
%t r opo est : on
%amb r es : cont i nuous
%val t hr es : 3. 0
%r ef pos : 32. 574831620 - 117. 126551777 - 28. 1471
%
%( l at / l on/ hei ght =WGS84/ el l i psoi dal , Q=1: f i x, 2: f l oat , 4: dgps, 5: si ngl e, ns=# of sat el l i t es)
% GPST l at i t ude( deg) l ongi t ude( deg) hei ght ( m) Q ns sdn( m) sde( m)
sdu( m) sdne( m) sdeu( m) sdun( m) age( s) r at i o
2009/ 07/ 15 07: 10: 00. 000 32. 560273272 - 116. 953525346 118. 6783 1 10 0. 0186 0. 0202
0. 0899 - 0. 0072 0. 0089 - 0. 0249 0. 00 4. 5
2009/ 07/ 15 07: 10: 10. 000 32. 560273266 - 116. 953525340 118. 6877 1 10 0. 0144 0. 0154
0. 0776 - 0. 0058 0. 0082 - 0. 0199 0. 00 5. 3
2009/ 07/ 15 07: 10: 20. 000 32. 560273262 - 116. 953525365 118. 6853 1 10 0. 0124 0. 0131
0. 0720 - 0. 0051 0. 0078 - 0. 0173 0. 00 5. 3
2009/ 07/ 15 07: 10: 30. 000 32. 560273251 - 116. 953525345 118. 6825 1 10 0. 0111 0. 0117
0. 0686 - 0. 0046 0. 0075 - 0. 0157 0. 00 5. 6
2009/ 07/ 15 07: 10: 40. 000 32. 560273275 - 116. 953525412 118. 6827 1 10 0. 0103 0. 0108
0. 0662 - 0. 0043 0. 0073 - 0. 0146 0. 00 4. 7
2009/ 07/ 15 07: 10: 50. 000 32. 560273277 - 116. 953525429 118. 6812 1 10 0. 0097 0. 0102
0. 0644 - 0. 0041 0. 0071 - 0. 0138 0. 00 4. 1
2009/ 07/ 15 07: 11: 00. 000 32. 560273249 - 116. 953525449 118. 6817 1 10 0. 0092 0. 0097
0. 0630 - 0. 0039 0. 0069 - 0. 0132 0. 00 4. 2
2009/ 07/ 15 07: 11: 10. 000 32. 560273271 - 116. 953525464 118. 6729 1 10 0. 0088 0. 0093
0. 0618 - 0. 0038 0. 0067 - 0. 0127 0. 00 5. 2
2009/ 07/ 15 07: 11: 20. 000 32. 560273246 - 116. 953525468 118. 6772 1 10 0. 0085 0. 0089
0. 0607 - 0. 0037 0. 0066 - 0. 0123 0. 00 6. 1
2009/ 07/ 15 07: 11: 30. 000 32. 560273219 - 116. 953525461 118. 6733 1 10 0. 0083 0. 0087
0. 0598 - 0. 0036 0. 0065 - 0. 0119 0. 00 7. 9
2009/ 07/ 15 07: 11: 40. 000 32. 560273216 - 116. 953525478 118. 6771 1 10 0. 0081 0. 0085
0. 0590 - 0. 0035 0. 0064 - 0. 0117 0. 00 9. 0
2009/ 07/ 15 07: 11: 50. 000 32. 560273206 - 116. 953525489 118. 6726 1 10 0. 0079 0. 0083
0. 0582 - 0. 0035 0. 0062 - 0. 0114 0. 00 8. 6
2009/ 07/ 15 07: 12: 00. 000 32. 560273201 - 116. 953525497 118. 6744 1 10 0. 0078 0. 0081
0. 0575 - 0. 0034 0. 0061 - 0. 0112 0. 00 7. 5
2009/ 07/ 15 07: 12: 10. 000 32. 560273212 - 116. 953525455 118. 6731 1 10 0. 0077 0. 0080
0. 0568 - 0. 0034 0. 0060 - 0. 0110 0. 00 7. 9
75
B.2 SBAS Log File
DESCRIPTION

ASBASlogfileisoutputofRTKCONV,thatisatextfileinwhichalinecontainsaSBASmessagecaptured
bytheGPS/GNSSreceiver.ThefollowingtableshowstheformatoftheSBASlogfile.

1
SBAS
messages
AlinecontainsaSBASnavigationdataframe,whichconsistsofthe
followingfields.
(1)
GPSweek
number
GPSweeknumberofSBASnavigationdataframe.
(2) Timeofweek TimeofweekofSBASnavigationdataframeinseconds.
(3) PRNnumber PRNnumberofSBASsatellitetransmittingthenavigationdata
(4) Messagetype
ThetypeIDoftheSBASmessageintheframe(063).ReferSBAS
specificationsfordetails:
RTCA/DO229C,Minimumoperationalperformancestandardsfor
GlobalPositioningSystem/WideAreaAugmentationsystem
airborneequipment
(5) Separator
:
(6) SBASmessage
Hexadecimaldumpofa226bitSBASmessagewithout24bit
parityfield.Themessagetailis0paddedtoalignto8bitboundary.
ReferSBASspecificationsforthedetailedmessageformat.
EXAMPLE

1471 349007 137 25 : C666A0A7F1FE6000027F80000003468000000000000000000000000000
1471 349007 129 25 : C666A0A7F4FE6004047F80000003468000000000000000000000000000
1471 349008 129 4 : 53109FFFFF5FFDFFDFFDFFFFC7FA9FFDFFDFFDFFDFFF9BBBBB33FFFFC0
1471 349008 137 4 : 53129FFC001FFDFFDFFDFFFFA0009FFDFFDFFDFFDFFF9BBBBB33FFFFC0
1471 349009 137 3 : 9A0C9FFDFFDFFFFFDFFC017FF9FFDFFC009FFC015FFFBB97B9BB9FBB80
1471 349009 129 2 : 9A0A9FFFFC9FFFFE9FFDFFDFFDFFDFFDFFFFF7F93FFBE79BBBBBB9FA00
1471 349010 137 2 : C60A9FFFFD1FFFFFDFFDFFDFFDFFDFFDFFC003F88003E79FBBFBB9FA00
1471 349010 129 3 : C60E9FFDFFDFFFFE9FFC007FEDFFDFFFFFDFFFFFDFFFBB97B9BB9FBB80
1471 349011 137 26 : 536A0029E0EF0FF05F829C11C076033015A09D047037C1DE14F08FE000
1471 349011 129 26 : 536A0821A0DD05E82B813E0EF0F7897C27C12E08683B419C0BE057E000
1471 349012 137 28 : 9A723440E44E810029FF1F1F379C0BC35D4BE2B8078F15903253960200
1471 349012 129 28 : 9A722CB5D8739087B46B107DA8D9E828694B55F843782100AF146AD980
1471 349013 129 9 : C62434198D3F5D92BA855704800236DFE84FE06FFA47FE7FF0008E0240
1471 349013 137 9 : C6260C198D32310732404C1D40183CDFD187C8F3FF7FFD800FF7D6BE40
1471 349014 129 4 : 53119FFFFF9FFDFFDFFDFFFFD3FA5FFDFFDFFDFFDFFF9BBBBB33FFFFC0
1471 349014 137 4 : 53109FFC005FFDFFDFFDFFFFAFFFDFFDFFDFFDFFDFFF9BBBBB33FFFFC0
1471 349015 129 2 : 9A089FFFFC5FFFFEDFFDFFDFFDFFDFFDFFFFFBF8FFFFE79BBBBBB9FA00
1471 349015 137 3 : 9A0D9FFDFFDFFFFF9FFC017FFDFFDFFC00DFFC015FFFBB97B9BB9FBB80
1471 349016 137 2 : C6089FFFFD5FFC001FFDFFDFFDFFDFFDFFFFFFF8BFFFE79FBBFBB9FA00
1471 349016 129 3 : C60C9FFDFFDFFFFE5FFC007FF1FFDFFC001FFFFFDFFFBB97B9BB9FBB80
1471 349017 137 25 : 5366587803FE3FF0010080FFFF835E8000000000000000000000000000
1471 349017 129 25 : 5366587FFDFEDFF40400800000035E8000000000000000000000000000
1471 349018 129 63 : 9AFC000000000000000000000000000000000000000000000000000000
1471 349018 137 63 : 9AFC000000000000000000000000000000000000000000000000000000
1471 349019 129 26 : C66A0C53E26F09704781DC0DE06702FC19E1EF09F047821C0EF05FE000
1471 349019 137 26 : C66A0431E17E0A704741F80DC05E827815C0EF09F877C2FC15E096E000
1471 349020 137 4 : 53119FFC001FFDFFDFFDFFFF9C001FFDFFDFFDFFDFFF9BBBBB33FFFFC0
1471 349020 129 4 : 53129FFFFF5FFDFFDFFDFFFFC3FA9FFDFFDFFDFFDFFF9BBBBB33FFFFC0
76
B.3 Solution Status File
DESCRIPTION

AsolutionstatusfileisoutputofRTKNAVIorRTKPOST,thatisatextfilewhichcontainstheinternalstatus
of the positioning process. The internal status include estimated states of Kalman filter and residuals of
measurementstoanalyzethesolutionquality.Thefollowingtableshowstheformatofthesolutionstatus
file.

1 PositionStates
Estimated rover position in the filter. The format of a record is as
follows.
$POS,week,tow,stat,posx,posy,posz,posxf,posyf,poszf
week/tow:gpsweekno/timeofweek(s)
stat:solutionstatus
posx/posy/posz:positionx/y/zecef(m)float
posxf/posyf/poszf:positionx/y/zecef(m)fixed
2
Velocity/
Acceleration
States
Estimatedrovervelocityandaccelerationinthefilter.Theformatof
arecordisasfollows.
$VELACC,week,tow,stat,vele,veln,velu,acce,accn,accu,velef,velnf,\
veluf,accef,accnf,accuf
stat:solutionstatus
vele/veln/velu:velocitye/n/u(m/s)float
acce/accn/accu:acceleratione/n/u(m/s^2)float
velef/velnf/veluf:velocitye/n/u(m/s)fixed
accef/accnf/accuf:acceleratione/n/u(m/s^2)fixed
3
Ionosphere
Parameter
States
Estimated ionosphere parameter (vertical L1 ionosphere delay
difference).Theformatofarecordisasfollows.
$ION,week,tow,stat,sat,az,el,ion,ionfixed
stat:solutionstatus
sat:satelliteid
az/el:azimuth/elevationangle(deg)
ion:verticalionosphericdelayL1(m)float
ionfixed:verticalionosphericdelayL1(m)fixed
4
Troposphere
Parameter
States
Estimated troposphere parameter (vertical troposphere delay
residual).Theformatofarecordisasfollows.
$TROP,week,tow,stat,rcv,ztd,ztdf
stat:solutionstatus
rcv:receiver(1:rover,2:basestation)
ztd:zenithtotaldelay(m)float
77
ztdf:zenithtotaldelay(m)fixed
5
ReceiverH/W
biasStates
EstimatedGLONASSreceiverH/Wbiasdifference.Theformatofa
recordisasfollows.
$HWBIAS,week,tow,stat,frq,bias,biasf
stat:solutionstatus
frq:frequency(1:L1,2:L2,3:L5,...)
bias:h/wbiascoefficient(m/MHz)float
biasf:h/wbiascoefficient(m/MHz)fixed
6 Residuals
Residuals of pseudorange and carrierphase observables. The
formatofarecordisasfollows.
$SAT,week,tow,sat,frq,az,el,resp,resc,vsat,snr,fix,slip,lock,outc,\
slipc,rejc
sat/frq:satelliteid/frequency(1:L1,2:L2,3:L5,...)
az/el:azimuth/elevationangle(deg)
resp:pseudorangeresidual(m)
resc:carrierphaseresidual(m)
vsat:validdataflag(0:invalid,1:valid)
snr:signalstrength(dbHz)
fix:ambiguityflag(0:nodata,1:float,2:fixed,3:hold)
slip:cycleslipflag(bit1:slip,bit2:parityunknown)
lock:carrierlockcount
outc:dataoutagecount
slipc:cycleslipcount
rejc:datareject(outlier)count
EXAMPLE
$POS, 1557, 432000. 000, 2, - 3869295. 9628, 3436570. 2567, 3717367. 6546, 0. 0000, 0. 0000, 0. 0000
$HWBI AS, 1557, 432000. 000, 2, 1, - 0. 3503, 0. 0000
$HWBI AS, 1557, 432000. 000, 2, 2, 0. 0108, 0. 0000
$SAT, 1557, 432000. 000, 3, 1, 253. 2, 64. 3, 0. 3219, - 0. 0006, 1, 48, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 3, 2, 253. 2, 64. 3, - 0. 0629, - 0. 0006, 1, 33, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 13, 1, 298. 4, 24. 1, - 0. 6732, 0. 0003, 1, 42, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 13, 2, 298. 4, 24. 1, 0. 8081, 0. 0003, 1, 17, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 16, 1, 42. 0, 59. 5, 0. 5037, - 0. 0005, 1, 47, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 16, 2, 42. 0, 59. 5, - 0. 5170, - 0. 0005, 1, 30, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 19, 1, 229. 8, 39. 0, - 0. 1948, - 0. 0003, 1, 44, 1, 0, 1, 0, 0, 0
$SAT, 1557, 432000. 000, 19, 2, 229. 8, 39. 0, - 0. 0806, - 0. 0003, 1, 28, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 21, 1, 61. 1, 28. 1, - 1. 0704, 0. 0001, 1, 41, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 21, 2, 61. 1, 28. 1, 1. 0139, 0. 0001, 1, 19, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 23, 1, 257. 9, 29. 9, - 1. 3258, - 0. 0000, 1, 45, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 23, 2, 257. 9, 29. 9, 0. 4155, 0. 0000, 1, 23, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 25, 1, 317. 0, 24. 7, 0. 8868, 0. 0002, 1, 41, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 25, 2, 317. 0, 24. 7, 0. 1811, 0. 0003, 1, 19, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 31, 1, 145. 1, 32. 5, 0. 6140, - 0. 0001, 1, 44, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, 31, 2, 145. 1, 32. 5, - 0. 2397, - 0. 0001, 1, 26, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, R9, 1, 105. 7, 78. 1, - 0. 1172, - 0. 0001, 1, 45, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, R9, 2, 105. 7, 78. 1, 0. 0000, 0. 0000, 0, 0, 0, 0, 0, 1, 0, 0
$SAT, 1557, 432000. 000, R10, 1, 331. 5, 41. 7, - 0. 1425, 0. 0002, 1, 43, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, R10, 2, 331. 5, 41. 7, 0. 0349, 0. 0001, 1, 30, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, R19, 1, 18. 6, 61. 2, - 0. 7708, - 0. 0000, 1, 46, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, R19, 2, 18. 6, 61. 2, 0. 1898, - 0. 0001, 1, 39, 1, 0, 1, 0, 0, 0
$SAT, 1557, 432000. 000, R20, 1, 235. 7, 55. 6, 1. 0305, - 0. 0000, 1, 42, 1, 1, 1, 0, 1, 0
$SAT, 1557, 432000. 000, R20, 2, 235. 7, 55. 6, - 0. 2247, - 0. 0001, 1, 39, 1, 1, 1, 0, 1, 0
78
B.4 Configuration File
DESCRIPTION

A conf i gur at i on f i l e cont ai ni ng pr ocessi ng opt i ons, sol ut i on opt i ons and f i l e
opt i ons f or RTKNAVI , RTKPOST, RTKRCV and RNX2RTKP. That i s a t ext f i l e whi ch cont ai ns
t he Keyword = Value f or mr ecor ds i ndi cat i ng t he var i ous opt i ons. The l i ne st ar t i ng
wi t h # and t he t ext s af t er # i n a l i ne ar e t r eat ed as comment s. For t he cont ent s
of t he conf i gur at i on f i l e, r ef er 3. 5.

EXAMPLE

# RTKNAVI opt i ons ( 2011/ 06/ 11 12: 06: 52, v. 2. 4. 1)

pos1- posmode =si ngl e #
( 0: si ngl e, 1: dgps, 2: ki nemat i c, 3: st at i c, 4: movi ngbase, 5: f i xed, 6: ppp- ki ne, 7: ppp- st at i c)
pos1- f r equency =l 1+l 2 # ( 1: l 1, 2: l 1+l 2, 3: l 1+l 2+l 5, 4: l 1+l 2+l 5+l 6, 5: l 1+l 2+l 5+l 6+l 7)
pos1- sol t ype =f or war d # ( 0: f or war d, 1: backwar d, 2: combi ned)
pos1- el mask =15 # ( deg)
pos1- snr mask =0 # ( dBHz)
pos1- dynami cs =of f # ( 0: of f , 1: on)
pos1- t i decor r =of f # ( 0: of f , 1: on)
pos1- i onoopt =br dc #
( 0: of f , 1: br dc, 2: sbas, 3: dual - f r eq, 4: est - st ec, 5: i onex- t ec, 6: qzs- br dc, 7: qzs- l ex, 8: vt ec_sf , 9
: vt ec_ef , 10: gt ec)
pos1- t r opopt =saas # ( 0: of f , 1: saas, 2: sbas, 3: est - zt d, 4: est - zt dgr ad)
pos1- sat eph =br dc # ( 0: br dc, 1: pr eci se, 2: br dc+sbas, 3: br dc+ssr apc, 4: br dc+ssr com)
pos1- excl sat s = # ( pr n . . . )
pos1- navsys =1 # ( 1: gps+2: sbas+4: gl o+8: gal +16: qzs+32: comp)
pos2- ar mode =cont i nuous # ( 0: of f , 1: cont i nuous, 2: i nst ant aneous, 3: f i x- and- hol d)
pos2- gl oar mode =of f # ( 0: of f , 1: on, 2: aut ocal )
pos2- ar t hr es =3
pos2- ar l ockcnt =0
pos2- ar el mask =0 # ( deg)
pos2- ar mi nf i x =10
pos2- el maskhol d =0 # ( deg)
pos2- ar out cnt =5
pos2- maxage =30 # ( s)
pos2- sl i pt hr es =0. 05 # ( m)
pos2- r ej i onno =30 # ( m)
pos2- r ej gdop =30
pos2- ni t er =1
pos2- basel en =0 # ( m)
pos2- basesi g =0 # ( m)
out - sol f or mat =l l h # ( 0: l l h, 1: xyz, 2: enu, 3: nmea)
out - out head =of f # ( 0: of f , 1: on)
out - out opt =of f # ( 0: of f , 1: on)
out - t i mesys =gpst # ( 0: gpst , 1: ut c, 2: j st )
out - t i mef or m =hms # ( 0: t ow, 1: hms)
out - t i mendec =3
out - degf or m =deg # ( 0: deg, 1: dms)
out - f i el dsep =
out - hei ght =el l i psoi dal # ( 0: el l i psoi dal , 1: geodet i c)
out - geoi d =i nt er nal # ( 0: i nt er nal , 1: egm96, 2: egm08_2. 5, 3: egm08_1, 4: gsi 2000)
out - sol st at i c =al l # ( 0: al l , 1: si ngl e)
out - nmeai nt v1 =0 # ( s)
out - nmeai nt v2 =0 # ( s)
out - out st at =of f # ( 0: of f , 1: st at e, 2: r esi dual )
st at s- er at i o1 =100
st at s- er at i o2 =100
79
st at s- er r phase =0. 003 # ( m)
st at s- er r phaseel =0. 003 # ( m)
st at s- er r phasebl =0 # ( m/ 10km)
st at s- er r doppl er =1 # ( Hz)
st at s- st dbi as =30 # ( m)
st at s- st di ono =0. 03 # ( m)
st at s- st dt r op =0. 3 # ( m)
st at s- pr naccel h =10 # ( m/ s^2)
st at s- pr naccel v =10 # ( m/ s^2)
st at s- pr nbi as =0. 0001 # ( m)
st at s- pr ni ono =0. 001 # ( m)
st at s- pr nt r op =0. 0001 # ( m)
st at s- cl kst ab =5e- 12 # ( s/ s)
ant 1- post ype =l l h # ( 0: l l h, 1: xyz, 2: si ngl e, 3: posf i l e, 4: r i nexhead, 5: r t cm)
ant 1- pos1 =90 # ( deg| m)
ant 1- pos2 =0 # ( deg| m)
ant 1- pos3 =- 6335367. 62849036 # ( m| m)
ant 1- ant t ype =
ant 1- ant del e =0 # ( m)
ant 1- ant del n =0 # ( m)
ant 1- ant del u =0 # ( m)
ant 2- post ype =l l h # ( 0: l l h, 1: xyz, 2: si ngl e, 3: posf i l e, 4: r i nexhead, 5: r t cm)
ant 2- pos1 =90 # ( deg| m)
ant 2- pos2 =0 # ( deg| m)
ant 2- pos3 =- 6335367. 62849036 # ( m| m)
ant 2- ant t ype =
ant 2- ant del e =0 # ( m)
ant 2- ant del n =0 # ( m)
ant 2- ant del u =0 # ( m)
mi sc- t i mei nt er p =of f # ( 0: of f , 1: on)
mi sc- sbasat sel =0 # ( 0: al l )
f i l e- sat ant f i l e =
f i l e- r cvant f i l e =
f i l e- st aposf i l e =
f i l e- geoi df i l e =
f i l e- i onof i l e =
f i l e- dcbf i l e =
f i l e- t empdi r =C: \ Temp
f i l e- geexef i l e =
f i l e- sol st at f i l e =
f i l e- t r acef i l e =
#

i npst r 1- t ype =of f #
( 0: of f , 1: ser i al , 2: f i l e, 3: t cpsvr , 4: t cpcl i , 7: nt r i pcl i , 8: f t p, 9: ht t p)
i npst r 1- pat h =
i npst r 2- pat h =
i npst r 3- pat h =
i npst r 1- f or mat =r t cm2 #
( 0: r t cm2, 1: r t cm3, 2: oem4, 3: oem3, 4: ubx, 5: ss2, 6: hemi s, 7: skyt r aq, 8: gw10, 9: j avad, 15: sp3)
i npst r 2- nmear eq =of f # ( 0: of f , 1: l at l on, 2: si ngl e)
i npst r 2- nmeal at =0 # ( deg)
i npst r 2- nmeal on =0 # ( deg)
out st r 1- t ype =of f # ( 0: of f , 1: ser i al , 2: f i l e, 3: t cpsvr , 4: t cpcl i , 6: nt r i psvr )
out st r 2- t ype =of f # ( 0: of f , 1: ser i al , 2: f i l e, 3: t cpsvr , 4: t cpcl i , 6: nt r i psvr )
out st r 1- pat h =
out st r 2- pat h =
out st r 1- f or mat =l l h # ( 0: l l h, 1: xyz, 2: enu, 3: nmea)
out st r 2- f or mat =l l h # ( 0: l l h, 1: xyz, 2: enu, 3: nmea)
l ogst r 1- t ype =of f # ( 0: of f , 1: ser i al , 2: f i l e, 3: t cpsvr , 4: t cpcl i , 6: nt r i psvr )
l ogst r 1- pat h =
l ogst r 2- pat h =
80
l ogst r 3- pat h =
mi sc- svr cycl e =10 # ( ms)
mi sc- t i meout =10000 # ( ms)
mi sc- r econnect =10000 # ( ms)
mi sc- nmeacycl e =5000 # ( ms)
mi sc- buf f si ze =32768 # ( byt es)
mi sc- navmsgsel =al l # ( 0: al l , 1: r over , 2: base, 3: cor r )
mi sc- pr oxyaddr =
mi sc- f swapmar gi n =30 # ( s)
81
Appendix C Library APIs (Application Program Interfaces)
The following table shows the list of RTKLIB library functions. For detailed API (calling convention,
description of the function, input and output parameters and types, return value and type) for a library
function, refer the header comment of each function in the source program in rtklib_<ver>\src. The
definitionofdatatypesregardingtotheAPIs,refertheheaderfilertklib.hinrtklib_<ver>\src.
(Notupdatedforv.2.4.1.)
RTKLIBAPIFUNCTIONLIST(*:addedinver.2.4.1, **:modifiedinver.2.4.1)
Function Description SourceProgram
Satellitenumber/systemfunctions

satno()
SatellitesystemandPRN/slotnumbertosatellitenumber
rtkcmn.c
satsys()
Satellitenumbertosatellitesystem
rtkcmn.c
satid2no()
SatelliteIDtosatellitenumber
rtkcmn.c
satno2id()
SatellitenumbertosatelliteID
rtkcmn.c
obs2code()
Observationtypestringtoobservationcode
rtkcmn.c
code2obs()
Observationcodetoobservationcodestring
rtkcmn.c
Matrixandvectorfunctions

mat()
Newmatrix
rtkcmn.c
imat()
Newintegermatrix
rtkcmn.c
zeros()
Newzeromatrix
rtkcmn.c
eye()
Newidentitymatrix
rtkcmn.c
dot()
InnerProduct
rtkcmn.c
norm()
Euclidnorm
rtkcmn.c
cross3()
Outerproductof3Dvector
rtkcmn.c
normv3()
normalize3Dvector
rtkcmn.c
matcpy()
Copymatrix
rtkcmn.c
matmul()
Multiplymatrix
rtkcmn.c
matinv()
Inverseofmatrix
rtkcmn.c
solve()
Solvelinearequation
rtkcmn.c
lsq()
Leastsquareestimation
rtkcmn.c
filter()
Kalmanfilterstateupdate
rtkcmn.c
smoother()
Kalmansmoother
rtkcmn.c
matprint()
Printmatrix
rtkcmn.c
matfprint()
Printmatrixtofile
rtkcmn.c

Timeandstringfunctions

str2num()
Stringtonumber
rtkcmn.c
str2time()
Stringtotime
rtkcmn.c
time2str()
Timetostring
rtkcmn.c
epoch2time()
Calendarday/timetotime
rtkcmn.c
time2epoch()
Timetocalendarday/time
rtkcmn.c
gpst2time()
GPSTIMEtotime
rtkcmn.c
time2gpst()
TimetoGPSTIME
rtkcmn.c
gst2time()
GalileoSystemTimetotime
rtkcmn.c
82
time2gst()
TimetoGalileoSystemTime
rtkcmn.c
time_str()
GetTimeString
rtkcmn.c
timeadd()
Addtime
rtkcmn.c
timediff()
Timedifference
rtkcmn.c
gpst2utc()
GPSTimetoUTC
rtkcmn.c
utc2gpst()
UTCtoGPSTime
rtkcmn.c
timeget()
GetcurrenttimeinUTC
rtkcmn.c
timeset()
SetcurrenttimeinUTC
rtkcmn.c
time2doy()
TimetoDayofYear
rtkcmn.c
adjgpsweek()
AdjustGPSweeknumber
rtkcmn.c
tickget()
Getcurrentticktime
rtkcmn.c
sleepms()
Sleepformilliseconds
rtkcmn.c
reppath()
Replacefilepath
rtkcmn.c
reppaths()
Replacefilepaths
rtkcmn.c

Coordinatesfunctions

ecef2pos()
ECEFtogeodeticposition
rtkcmn.c
pos2ecef()
GeodetictoECEFposition
rtkcmn.c
ecef2enu()
ECEFtolocalcoordinates
rtkcmn.c
enu2ecef()
LocaltoECEFcoordinates
rtkcmn.c
covenu()
Covarianceinlocalcoordinates
rtkcmn.c
covecef()
CovarianceinECEFcoordinates
rtkcmn.c
xyz2enu()
ECEFtoENUlocalcoordinatetransformationmatrix
rtkcmn.c
eci2ecef()
ECItoECEFtransformationmatrix
preceph.c
deg2dms()
Convertdegreetodegminsec
rtkcmn.c
dms2deg()
Convertdegminsectodegree
rtkcmn.c

Input/outputfunctions

readpos()
Readstationpositions
rtkcmn.c
sortobs()
Sortobservationdata
rtkcmn.c
uniqnav()
Deleteduplicatedephemeridesinnavigationdata
rtkcmn.c *
screent()
Screendatabytimeandinterval
rtkcmn.c
readnav()
Readnavigationdatafromfile
rtkcmn.c
savenav()
Savenavigationdatatofile
rtkcmn.c
freeobs()
Freememoryforobservationdata
rtkcmn.c *
freenav()
Freememoryfornavigationdata
rtkcmn.c *

Debugtracefunctions

traceopen()
Opentracefile
rtkcmn.c
traceclose()
Closetracefile
rtkcmn.c
trace()
Outputtrace
rtkcmn.c
tracet()
Outputtracewithtimetag
rtkcmn.c
tracemat()
Outputtraceasmatrixprinting
rtkcmn.c
traceobs()
Outputtraceasobservationdataprinting
rtkcmn.c
traceonav()
OutputtraceasGPSnavigationmessages
rtkcmn.c
tracegnav()
OutputtraceasGLONASSnavigationmessages
rtkcmn.c
tracehnav()
OutputtraceasGEOnavigationmessages
rtkcmn.c
tracepeph()
Outputtraceaspreciseephemeris
rtkcmn.c
tracepclk()
Outputtraceaspreciseclock
rtkcmn.c
traceb()
Outputtraceasbinarydump
rtkcmn.c

Platformdependentfunctions

83
execcmd()
Executecommand
rtkcmn.c
expath()
Expandfilepath
rtkcmn.c
createdir()
Createdirectory
rtkcmn.c

Positioningmodels

satwavelen()
Satellitesignalcarrierwavelength
rtkcmn.c
satazel()
Satelliteazimuth/elevationangle
rtkcmn.c
geodist()
Geometricdistance
rtkcmn.c
dops()
ComputeDOPs
rtkcmn.c
csmooth()
Carriersmoothing
rtkcmn.c

Atmospheremodels

ionmodel()
Ionosphericmodel
rtkcmn.c
ionppp()
Ionosphericpiercepointposition
rtkcmn.c *
ionmapf()
Ionosphericmappingfunction
rtkcmn.c
tropmodel()
Troposphericmodel
rtkcmn.c
tropmapf()
Troposphericmappingfunction(NMF)
rtkcmn.c
iontec()
IonospheremodelbyTECgriddata
ionex.c *
readtec()
ReadIONEXTECgridfile
ionex.c *
ionocorr()
Ionospherecorrection
pntpos.c *
tropcorr()
Tropospherecorrection
pntpos.c *

Antennamodels

readpcv()
Readantennaparameters
rtkcmn.c
searchpcv()
Searchantennaparameters
rtkcmn.c
antmodel()
Receiverantennamodel
rtkcmn.c
antmodel_s()
Satelliteantennamodel
rtkcmn.c

Earthtidesmodels

sunmoonpos()
Sunandmoonposition
preceph.c
tidedisp()
Displacementsbyearthtides
ppp.c

Geoidmodel

opengeoid()
Openexternalgeoidfile
geoid.c
closegeoid()
Closeexternalgeoidfile
geoid.c
geoidh()
Geoidheight
geoid.c

Datumtransformation

loaddatump()
Loaddatumtransformationparameter
datum.c
tokyo2jgd()
TokyodatumtoJGD2000datum
datum.c
jgd2tokyo()
JGD2000datumtoTokyodatum
datum.c

RINEXfunctions

readrnx()
ReadRINEXfile
rinex.c **
readrnxt()
ReadRINEXfileintimerange/interval
rinex.c **
readrnxc()
ReadRINEXclockfile
rinex.c
setrnxcodepri()
SetRINEXcodepriority
rinex.c
outrnxobsh()
OutputRINEXOBSheader
rinex.c
outrnxobsb()
OutputRINEXOBSbody
rinex.c
outrnxnavh()
OutputRINEXNAVheader
rinex.c **
outrnxgnavh()
OutputRINEXGNAVheader
rinex.c **
outrnxhnavh()
OutputRINEXHNAVheader
rinex.c *
outrnxlnavh()
OutputRINEXLNAVheader
rinex.c *
84
outrnxqnavh()
OutputRINEXQNAVheader
rinex.c *
outrnxnavb()
OutputRINEXNAVbody
rinex.c
outrnxgnavb()
OutputRINEXGNAVbody
rinex.c
outrnxhnavb()
OutputRINEXHNAVbody
rinex.c *
uncompress()
Uncompressfile
rinex.c
convrnx()
RINEXconverter
convrnx.c

Ephemerisfunctions

eph2clk()
Broadcastephemeristosatelliteclockbias
ephemeris.c
geph2clk()
GLONASSephemeristosatelliteclockbias
ephemeris.c
seph2clk()
GEOephemeristosatelliteclockbias
ephemeris.c
eph2pos()
Broadcastephemeristosatelliteposition/clockbias
ephemeris.c
geph2pos()
GLONASSephemeristosatelliteposition/clockbias
ephemeris.c
seph2pos()
GEOephemeristosatelliteposition/clockbias
ephemeris.c
peph2pos()
Preciseephemeristosatelliteposition/clockbias
preceph.c
satantoff()
Satelliteantennaphasecenteroffset
ephemeris.c
satpos()
Satelliteposition/clockbias
ephemeris.c **
satposs()
Satellitepositions/clockbiases
ephemeris.c **
readsp3()
ReadSP3file
preceph.c
readsap()
Readsatelliteantennaphasecenterparameters
preceph.c
readdcb()
ReadDCBparameters
preceph.c
alm2pos()
Almanactosatelliteposition/clockbias
preceph.c *

Receiverrawdatafunctions

getbitu()
Extractunsignedbits
rtkcmn.c
getbits()
Extractsignedbits
rtkcmn.c
crc32()
CRC32parity
rtkcmn.c
crc24q()
CRC24Qparity
rtkcmn.c
decode_word()
Decodenavigationdataword
rcvraw.c
decode_frame()
Decodenavigationdataframe
rcvraw.c **
init_raw()
Initializereceiverrawdatacontrol
rcvraw.c
free_raw()
Freereceiverrawdatacontrol
rcvraw.c
input_raw()
Inputreceiverrawdatafromstream
rcvraw.c
input_rawf()
Inputreceiverrawdatafromfile
rcvraw.c

Receiverdependentfunctions

input_oem4()
InputOEM4/Vrawdatafromstream
rcv/novatel.c
input_oem3()
InputOEM3rawdatafromstream
rcv/novatel.c
input_ubx()
Inputubloxrawdatafromstream
rcv/ublox.c
input_ss2()
InputSuperstarIIrawdatafromstream
rcv/ss2.c
input_cres()
InputCrescentrawdatafromstream
rcv/crescent.c
input_stq()
InputSkyTraqrawdatafromstream
rcv/skytraq.c
input_gw10()
InputFurunoGW10II/IIIrawdatafromstream
rcv/gw10.c *
input_javad()
InputJAVADGRIL/GREISrawdatafromstream
rcv/javad.c *
input_oem3f()
InputOEM3rawdatafromfile
rcv/novatel.c
input_oem4f()
InputOEM4/Vrawdatafromfile
rcv/novatel.c
input_ubxf()
Inputubloxrawdatafromfile
rcv/ublox.c
input_ss2f()
InputSuperstarIIrawdatafromfile
rcv/ss2.c
input_cresf()
InputCrescentrawdatafromfile
rcv/crescent.c
input_stqf()
InputSkyTraqrawdatafromfile
rcv/skytraq.c
input_gw10f()
InputFurunoGW10II/IIIrawdatafromfile
rcv/gw10.c *
85
input_javadf()
InputJAVADGRIL/GREISrawdatafromfile
rcv/javad.c *
gen_ubx()
Generateubloxbinarycommand
rcv/ublox.c
gen_stq()
GenerateSkyTraqbinarycommand
rcv/skytraq.c

RTCMfunctions

init_rtcm()
InitializeRTCMcontrol
rtcm.c
free_rtcm()
FreeRTCMcontrol
rtcm.c
input_rtcm2()
InputRTCM2messagefromstream
rtcm.c
input_rtcm3()
InputRTCM3messagefromstream
rtcm.c
input_rtcm2f()
InputRTCM2messagefromfile
rtcm.c
input_rtcm3f()
InputRTCM3messagefromfile
rtcm.c

Solutionfunctions

initsolbuf()
Initializesolutionbuffer
solution.c
freesolbuf()
Freesolutionbuffer
solution.c
freesolstatbuf()
Freesolutionstatusbuffer
solution.c *
getsol()
Getsolutiondatafromsolutionbuffer
solution.c
addsol()
Addsolutiondatatosolutionbuffer
solution.c
readsol()
Readsolutiondatafromsolutionsfiles
solution.c
readsolt()
Readsolutiondataintimerange/interval
solution.c
readsolstat()
Readsolutionstatusfromfile
solution.c
readsolstatt()
Readsolutionstatusintimerange/interval
solution.c
inputsol()
Inputsolutiondatafromstream
solution.c
outprcopts()
Outputprocessingoptionstostring
solution.c
outsolheads()
Outputsolutionheadertostring
solution.c
outsols()
Outputsolutionbodytostring
solution.c
outsolexs()
Outputextendedsolutiontostring
solution.c
outprcopt()
Outputprocessingoptionstofile
solution.c
outsolhead()
Outputsolutionheadertofile
solution.c
outsol()
Outputsolutionbodytofile
solution.c
outsolex()
Outputextendedsolutiontofile
solution.c
outnmea_rmc()
OutputNMEAGPRMCsentence
solution.c
outnmea_gga()
OutputNMEAGPGGAsentence
solution.c
outnmea_gsa()
OutputNMEAGPGSAsentence
solution.c
outnmea_gsv()
OutputNMEAGPGSVsentence
solution.c

ConvertsolutionstoGoogleEarthKMLfile

convkml()
ConvertsolutionstoGoogleEarthKMLfile
convkml.c

SBASfunctions

sbsreadmsg()
ReadSBASmessagefile
sbas.c
sbsreadsmgt()
ReadSBASmessagefileintimerange
sbas.c
sbsoutmsg()
OutputSBASmessages
sbas.c
sbsdecodemsg()
DecodeSBASmessage
sbas.c
sbsupdatecorr()
UpdateSBAScorrections
sbas.c
sbssatcorr()
SBASsatellitecorrection
sbas.c
sbsioncorr()
SBASionosphericcorrection
sbas.c
sbstropcorr()
SBAStroposphericcorrection
sbas.c

Optionsfunctions

searchopt()
Searchoption
options.c
str2opt()
Stringtooptionvalue
options.c
86
opt2str()
Optionvaluetostring
options.c
opt2buf()
Optiontostring
options.c
loadopts()
Loadoptionsfromfile
options.c
saveopts()
Saveoptionstofile
options.c
resetsysopts()
Resetsystemoptionstodefault
options.c
getsysopts()
Getsystemoptions
options.c
setsysopts()
Setsystemoptions
options.c

Streamdatainput/outputfunctions

strinitcom()
Initializestreamcommunicationenvironment
stream.c
strinit()
Initializestream
stream.c
strlock()
Lockstream
stream.c
strunlock()
Unlockstream
stream.c
stropen()
Openstream
stream.c
strclose()
Closestream
stream.c
strread()
Readstream
stream.c
strwrite()
Writestream
stream.c
strsync()
Timesyncstream
stream.c
strstat()
Getstreamstatus
stream.c
strsum()
Getstreamstatisticssummary
stream.c
strsetopt()
Setstreamoptions
stream.c
strgettime()
Getcurrenttimefromstream
stream.c
strsendnmea()
SendNMEAmessagetostream
stream.c
strsendcmd()
Sendreceivercommandtostream
stream.c
strsettimeout()
Setstreamtimeoutparameters
stream.c
strsetdir()
Setlocaldirectory
stream.c
strsetproxy()
Setproxyaddress
stream.c *

Integerambiguityresolution

lambda()
LAMBDA/MLAMBDAintegerleastsquareestimation
lambda.c

Standardpositioning

pntpos()
Standardpositioning
pntpos.c

Precisepositioning

rtkinit()
InitializeRTKcontrolstruct
rtkpos.c
rtkfree()
FreeRTKcontrolstruct
rtkpos.c
rtkpos()
Precisepositioning
rtkpos.c
ppp.c
rtkopenstat()
Opensolutionstatusfile
rtkpos.c
rtkclosestat()
Closesolutionstatusfile
rtkpos.c

Postprocessingpositioning

postpos()
Postprocessingpositioning
postpos.c

Streamserverfunctions

strsvrinit()
Initializestreamserver
streamsvr.c
strsvrstart()
Startstreamserver
streamsvr.c **
strsvrstop()
Stopstreamserver
streamsvr.c
strsvrstat()
Getstreamserverstatus
streamsvr.c

RTKserverfunctions

87
rtksvrinit()
InitializeRTKserver
rtksvr.c
rtksvrstart()
StartRTKserver
rtksvr.c **
rtksvrstop()
StopRTKserver
rtksvr.c
rtksvropenstr()
Openoutput/logstream
rtksvr.c
rtksvrclosestr()
Closeoutput/logstream
rtksvr.c
rtksvrlock()
LockRTKserver
rtksvr.c
rtksvrunlock()
UnlockRTKserver
rtksvr.c
rtksvrostat()
GetRTKobservationdatastatus
rtksvr.c **
rtksvrsstat()
GetRTKstreamstatus
rtksvr.c

Manual 2.4.1

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Copyright(C)20072011byT.Takasu.Allrightsreserved.

(18) Toconfigurethepositioningoptions,push Options... buttonandsettheoptionsinOptionsdialog.

(21) Toswitchtheformatinthetimedisplay,push GPST buttonuppercenterinthemainwindow.You

(25) Bypushingthe buttonlowerleftinthemainwindow,youcanseeRTKMonitorwindow.Withthe

(26) Bypushing buttonlowerrightinthemainwindow,youcanminimizethemainwindowasanicon

(9) Aftercompletingtheanalysis,bypushing View... button,youcandisplaythecontentoftheoutput

(12) With buttoninthemainwindow,youcanviewandplottheinputobservationdataRTKPLOT.You

Item Descriptions Notes

Item Descriptions Notes

Item Descriptions Notes

SINEX station positions can be used as well. An sample

Item Descriptions Notes

Item Descriptions Notes

Item Descriptions Notes

(13) Afterfinishingtheconversion,youcanseetheobservationdataplotbypushing Plot... buttonwith

(14) By pushing Process... button, youcan execute RTKPOST_MKL AP to processtheconverted RINEX

(6) ByopetatingtoolbuttonsinToolBar,youcancenterthecurrentpositionwith ,adjustthescaleof

(14) Bypushing Plot... buttonofRTKNAVI,RTKPLOTautomaticallyrunsandconnectstothemonitor

Item Descriptions Notes

(4) Bypushingfieldtitle,youcansortthelist.Youalsocanpush STR, CAS,NET,SRCtoswitchthe

No Record/Field Description Notes

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No Record/Field Description Notes

No Record/Field Description Notes

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