RTKLIB Introduction Theory of Precise Positioning (1) …

1 Tokyo Univ. of Marine Science and TechnologyTomojiTAKASUIPNTJ Summer School on GNSSRTKLIBI ntroductionTheory of Precise Positioning (1)QZSS Demo and RTKLIB Practice2014-07-28 ~ 2014-08-02 @Tokyo, JapanTimetableB-1 RTKLIBI ntroductionJuly298:30-9:50B-2 RTKLIBP ractice (1)10:10-11:30B-3 Theory of Precise Positioning (1)12:30-13:50 JAXAA ctivities&QZSSI ntrobyJAXA14:10-15:30 QZSS-Demo & RTKLIB Practice(2)15:50-17:10B-4 Theory of Precise Positioning (2)July308:30-9:50B-5 RTKLIBP ractice (3)10:10-11:30 What is AIS? byJRC12:30-13:00 Port Cruise Demo (G-1)& RTKLIB Practice (4)13:10-14:20 Port Cruise Demo (G-2)& RTKLIB Practice (4)14:30-15:40B-6 AdvancedTopics15:50-17.

2 102B-1 RTKLIBI ntroduction3 GNSS GNSS(Global Navigation Satellite System) GPS(US) GLONASS(Russia) Galileo(EU) BeiDou(China) RNSS(Regional Navigation Satellite System) QZSS(Japan) IRNSS(India) SBAS(SatelliteBasedAugmentationSystem) WAAS,EGNOS,MSAS,SDCM,GAGAN4( )( )GNSSC onstellationSystem2010201420172020 GPS31313232 GLONASS23(+2)24(+3)24(+3)24(+3)Galileo04 1827(+3)BeiDou6163535 QZSS1147 IRNSS0177 SBAS781111 Total6886134149 NumberofExisting/PlannedGNSSS atellitesGNSSS ignalFrequencies( ,COMPASS: View on Compatibility and Interoperability,2009)L1/E1L2L5/E5aE5bE6 /LEXL1L2L35 RTKLIB An Open Source SoftwarePackage for GNSSP ositioning Hasbeendeveloped since2006 The latest version distributedunder BSD license Portable APIsandUsefulAPs "All-in-one" package for Windows or Ohtaet al.

3 ,Quasi real-time fault model estimation for near-field tsunami forecasting base on RTK-GPS analysis: Application to the 2011 Tohoku-Oki earthquake (Mw ), JGR-solid earth, 2012 RTKLIB : ApplicationRTKLIB: History8 2006/4 First version for RTK+C programlecture 2007/1 Simple post processing AP 2008/7 Add APs, support medium-range 2009/1 Add real-time AP, support NTRIP, starttodistribute asOpenSourceS/W 2009/5 Support RTCM, NRTK,manyreceivers 2009/12 Support GLONASS,severalreceivers 2010 (<1000km) 2011 ,JAVAD receiver,.. 2013 ,Enable BeiDou.

4 RTKLIB : Features Standardandprecisepositioning algorithmswith: GPS,GLONASS,QZSS,Galileo, BeiDouand SBAS Real-timeandpost-processing by various modes: Single,SBAS,DGPS,RTK,Static,Moving-basea ndPPP Supportsmanyformats/protocolsandreceiver s: RINEX2/3,RTCM2/3,BINEX, ,NMEA0183,SP3,RINEXCLK,ANTEX, NGS PCV, IONEX, RTCA-DO-229, EMS, NovAtel,JAVAD, Hemisphere,u-blox,SkyTraq,NVS, .. Supports real-time communicationvia: Serial,TCP/IP,NTRIP andfilestreams9 RTKLIB : GUIAPs10 STRSVRRTKNAVIRTKCONVRTKPOSTRTKPLOTNTRIPS RCBROWSRTKGETRTKLIB: CLIAPs RNX2 RTKP (rnx2rtkp)Post-processingPositioning RTKRCV (rtkrcv)Real-timePositioning CONVBIN (convbin)RINEXT ranslator STR2 STR (str2str)StreamServer POS2 KML (pos2kml)GoogleEarthConverter11 CLI Command ReferenceRTKLIB: : Source programs of RTKLIB libraries/rcv: Source programs depending on : Executable binary APs and DLLs for Windows/data: Sample data for APs/app.

5 Build environment for APs/rtknavi: RTKNAVI (GUI)/strsvr: STRSVR (GUI)/rtkpost: RTKPOST (GUI)/rtkpost_mkl: RTKPOST_MKL (GUI)/rtkplot: RTKPLOT (GUI)/rtkconv: RTKCONV (GUI)/srctblbrows: NTRIP source table browser (GUI)/rtkrcv: RTKRCV (console)/rnx2rtkp: RNX2 RTKP (console)/pos2kml: POS2 KML (console)/convbin: CONVBIN (console)/str2str: STR2 STR (console)/appcmn: Common routines for GUI APs/icon: Icon data for GUI APs/mkl: Intel MKL libraries for Borland environment/test: Test program and data/util: Utilities/doc: Document files12 RTKLIB :APIs13/* matrix and vector functions */mat(),imat(),zeros(),eye(),dot(),norm( ),matcpy(),matmul(),matinv(),solve(),lsq (),filter(),smoother(),matprint(),matfpr int()/* time and string functions */str2num(),str2time(),time2str(),epoch2 time(),time2epoch(),gpst2time(),time2gps t(),timeadd(),timediff(),gpst2utc(),utc2 gpst(),timeget(),time2doy(),adjgpsweek() ,tickget(),sleepms()/* coordinates functions */ecef2pos(),pos2ecef(),ecef2enu(),enu2e cef(),covenu(),covecef(),xyz2enu(),geoid h(),loaddatump(),tokyo2jgd(),jgd2tokyo()

6 /* input/output functions */readpcv(),readpos(),sortobs(),uniqeph( ),screent()/* Positioning models */eph2pos(),geph2pos(),satpos(),satposv( ),satposiode(),satazel(),geodist(),dops( ),ionmodel(),ionmapf(),tropmodel(),tropm apf(), antmodel(),csmooth()/* single-point Positioning */pntpos(),pntvel()/* rinex functions */readrnx(),readrnxt(),outrnxobsh(),outr nxnavh(),outrnxnavb(),uncompress(),convr nx()/* Precise ephemeris functions */readsp3(),readsap(),eph2posp(),satposp ()/* receiver raw data functions */getbitu(),getbits(),crc32(),crc24q(),d ecode_word(),decode_frame(),init_raw(),f ree_raw(),input_raw(),input_rawf(),input _oem4(), input_oem3(),input_ubx(),input_ss2(),inp ut_cres(),input_oem4f(),input_oem3f(),in put_ubxf(),input_ss2f(),input_cresf()/* rtcm functions */init_rtcm(),free_rtcm(),input_rtcm2(), input_rtcm3(),input_rtcm2f(),input_rtcm3 f()/* solution functions */readsol(),readsolt(),outsolheads(),out sols(),outsolexs(),outsolhead(),outsol() ,outsolex(),setsolopt(),setsolformat(), outnmea_rmc(),outnmea_gga(),outnmea_gsa( ),outnmea_gsv(),/* SBAS functions */sbsreadmsg()

7 ,sbsreadmsgt(),sbsoutmsg(),sbsupdatestat (),sbsdecodemsg(),sbssatpos(),sbspntpos( )/* integer least-square estimation */lambda()/* realtime kinematic Positioning */rtkinit(),rtkfree(),rtkpos()/* post-processing Positioning */postpos(),postposopt(),readopts(),writ eopts()/* stream data input/output */strinitcom(),strinit(),strlock(),strun lock(),stropen(),strclose(),strread(),st rwrite(),strsync(),strstat(),strsum(),st rsetopt(), strgettime()/* stream server functions */strsvrinit(),strsvrstart(),strsvrstop( ),strsvrstat()/* rtk server functions */rtksvrinit(),rtksvrstart(),rtksvrstop( ),rtksvrlock(),rtksvrunlock(),rtksvrosta t(),rtksvrsstat().

8 RTKLIB : SupportedReceiversFormatData Message TypesGPS RawMeasDataGLONASS Raw MeasGPS EphemerisGLONASSE phemerisION/UTCP arametersAntennaInfoSBASM essagesOthersRTCM 18, 19 Type 18, 19 Type 17--Type 3, 22-Type 1, 9,14, 16 RTCM 1002,1004 Type 1010,1012 Type 1019 Type 1020-Type 1005,1006, 1007,1008, 1033-SSRcorrectionsNovAtel OEM4/V, OEMStarRANGEB, RANGECMPBRANGEB,RANGECMPBRAWEPHEMBGLO-EP HEMERISBIONUTCB-RAWWAAS-FRAMEB-NovAtelOE M3 RGEB,RGED-REPB-IONB, UTCB-FRMB-NovAtelSuperstar IIID#23-ID#22---ID#67ID#20,#21u-bloxLEA- 4T,LEA-5 TUBXRXM-RAW-UBXRXM-SFRB-UBXRXM-SFRB-UBXR XM-SFRB-HemisphereCrescent, Eclipsebin 96-bin 95-bin 94-bin 80-SkyTraqS1315 Fmsg0xDD(221)-msg0xE0(224)-msg0xE0(224)- -msg0xDC(220)JAVAD(GRIL/GREIS)[R*],[r*], [*R],[*r],[P*],[p*],[*p],[D*],[*d],[E*], [*E],[F*][R*],[r*],[*R],[*r],[P*],[p*],[ *p],[D*],[*d],[E*],[*E],[F*][GE],[GD],[g d][NE],[LD][IO],[UO],[GD]-[WD][~~],[::], [RD],[SI],[NN],[TC],QZSS Data, GalileoDataFurunoGW10 IImsg0x08-msg0x24-msg0x26-msg0x03msg0x20 14 RTKLIB : Portability ProgrammingLanguage API, CUIAP:ANSIC(C89) GUIAP.

9 C++ UnderlyingLibraries TCP/IPStack:standard socketorWINSOCK Thread:POSIX (pthread) orWIN32thread GUI Widgets:BorlandVCLonWindows BuildEnvironment CLIAP:GCC,MSVS,BorlandC, .. GUIAP:BorlandTurboC++onWindows15 RTKLIB : Support17 GPS (12)GLONASS (8)Galileo (4)QZSS (1)BeiDou(10)SBAS (4)2013-06-12 10:20 GPSTV isibility at Tokyo by RTKPLOT# Total (39)(El>10deg)RINEX RINEX (ReceiverIndependentExchange) Text-basedStandardGNSS datafileformat Mainlyforpost-processing RINEXT ypes OBS:Observationdata NAV:navigationdata,(GNAV:GLONASS,HNAV:SB AS) MET:Meteorologicaldata CLK:Clockproduct RINEX Version ( , , ), (.)

10 18 RINEXOBS(Observation Data) OBSERVATION DATA M (MIXED) RINEX VERSION / TYPERTKCONV 20110423 090647 UTC PGM / RUN BY / DATE MARKER NAME MARKER NUMBER OBSERVER / AGENCY REC # / TYPE / VERS ANT # / TYPE APPROX POSITION XYZ ANTENNA: DELTA H/E/N1 1 WAVELENGTH FACT L1/28 C1 L1 D1 S1 P2 L2 D2 S2 # / TYPES OF OBSERV 2010 10 15 0 0 GPS TIME OF FIRST OBS 2010 10 15 2 28 GPS TIME OF LAST OBS END OF HEADER 10 10 15 0 0 0 10G 6G23G16G19G21G13G