RTKLIB ver.2.2 Manual

1 Copyright (C) 2007-2009 by T. Takasu. All rights reserved. i RTKLIB Manual 2009/01/30 1 ..1 2 ..2 ..2 RTKLIB ..3 ..4 ..10 ..14 RINEX ..17 ..19 ..26 Ntrip Source Table Browser ..32 ..34 3. RTKLIB ..35 Appendix A RTKLIB Application Program Interface (API)..36 Appendix B RTKLIB Console Application Baseline Analysis by Precise Relative Convert Positions to Google Earth KML Convert receiver binary log file to RINEX Single point positioning with SBAS DGPS Dump SBAS RTKLIB Manual 1 1 RTKLIB RTK (Realtime Kinematic) - GPS C RTK-GPS RTKLIB (1) (2) (3) (4) (5) ( ) (6) SBAS DGPS (7) (8) RTK-GPS/DGPS (9) OTF Ambiguity (10) (11) /NMEA (12) RINEX (13) (14) (15) NTRIP (Networked Transport of rtcm via Internet Protocol) (16) RTK-GPS RTKLIB (1) (2) (3) (4)

2 (5) (6) RTKLIB Manual 2 2 RTKLIB Windows OS - Windows XP professional SP3 - Windows Vista Premium Home 64bit RTKLIB RTKLIB ANSI C - gcc on Cygwin - Visual Studio 2008 standard on Windows Vista - Borland Turbo C++ 2006 on Windows Vista RTKLIB GUI - Borland Turbo C++ 2006 RTKLIB Manual 3 RTKLIB RTKLIB (1) rtklib_<ver>. rtklib_<ver>.zip (<ver> ) (2) rtklib_<ver> \src : \rcv : \bin : (Windows) \data : \app : \rtknavi : (GUI) \strsvr : (GUI) \rtkpost : (GUI) \rtkpost_mkl : Intel MKL (GUI) \rtkplot : (GUI) \rtkconv : RINEX (GUI) \srctblbrows : Ntrip (GUI) \rnx2rtkp : ( ) \pos2kml : Google Earth KML ( ) \convbin : RINEX ( ) \sbasdump : SBAS ( ) \sbaspos : SBAS DGPS ( ) \str2str : ( ) \appcmn : GUI \icon : GUI \mkl : Intel MKL \test.

3 \util : \doc : (3) /bin RTKLIB Manual 4 RTKNAVI GPS Kinematic GPS OTF (On the fly) Ambiguity Resolution RTK-GPS RTKNAVI (1) rtklib_<ver>\bin\ RTKNAVI (2) AP GPS SBAS .. Operation Buttons Time Display Solution Display RTK Monitor Button Input/Output Stream Status/Settings Signal Level/ Satellite Visibility/ Ground Track Display Message Area Save Log Button Display Switch Buttons RTKLIB Manual 5 (3) (Serial, TCP Client, TCP Server, Ntrip Client or File) Input Rover GPS Input Base Station GPS Opt.

4 ( ) Output Solution1, Output Solution 2 Log Rover Log Base Station Type (4) Serial Cmd .. GPS GPS Commands at startup Commands at shutdown off RTKLIB Manual 6 (5) Format ( ) GPS GPS - NovAtel Raw : RANGECMPB, RAWEPHEMB, IONUTCB, RAWWAASFRAMB - ublox Raw : RXMRAW, RXMSFRM - Superstar II Raw : ID#20, ID#21, ID#22, ID#23, ID#67 - Crescent Raw : BIN80, BIN94, BIN95, BIN96 - rtcm 2 : - rtcm 3.

5 (6) Option (7) Start Input Rover, Input Base Station, , Output Solution1, Output Solution2, Log Rover, Log Base Sation ( ) Age ( ) Ratio (Ambiguity Resolution Validation ) RTKLIB Manual 7 (8) GPST GPST UTC JST GPST (week/tow) (9) ( ) ( ) ECEF-XYZ -ENU -Pitch/Yaw / (10) Rover SNR Base Station SNR Rover Skyplot Base Station Skyplot ( ) (11) ( ) RTKLIB Manual 8.

6 Save Solution Log (12) RTK Monitor RTK Monitor - RTK : - Satellites : - States : - Obs Data : - Nav Data : - Streams : - SBAS Msgs : SBAS - SBAS Long : SBAS - SBAS Iono : SBAS - SBAS Fast : SBAS - GEO Nav : SBAS RTKLIB Manual 9 RTKLIB Manual RTK-GPS GPS GPS RTKLIB RTKNAVI STRSVR GPS RTK-GPS PC STRSVR GPS PC (1) ( ) (2) ( + ) (3) RTK-GPS ( / + ) GPS Receiver RTKNAVI Serial (1) Input Rover=Serial (3) Output Solution 1=File File RTKNAVI Serial (1) Input Rover=Serial (3) Output Solution 1=Serial (5) Log Rover=File Serial PC PC Log Rover GPS Receiver RTKNAVI Serial (1) Input Rover=Serial (2) Input Base Station=Serial (3)

7 Output Solution 1=File File PC GPS Receiver Base Station GPS Receiver Serial RTKLIB Manual 11 (4) RTK-GPS ( + : LAN ) (5) RTK-GPS ( : - ) (6) RTK-GPS ( : NTRIP Caster ) Rover GPS Receiver RTKNAVI Serial (1) Input Rover=Serial (2) Input Base Station=TCP Client (3) Output Solution 1=File File PC Base Station GPS Receiver Serial STRSVR (0) Input =Serial (1) Output 1=TCP Server PC TCP Server TCP Client Rover GPS Receiver RTKNAVI Serial (1) Input Rover=Serial (2) Input Base Station=TCP Client (3) Output Solution 1=File File PC Base Station GPS Receiver Serial STRSVR (0) Input =Serial (1) Output 1=TCP Server PC Internet Mobile Phone Terminal Mobile Phone N/W Rover GPS Receiver RTKNAVI Serial (1) Input Rover=Serial (2) Input Base Station=NTRIP Client (3) Output Solution 1=File File PC Base Station GPS Receiver Serial STRSVR (0) Input =Serial (1) Output 1=NTRIP Server PC Internet Ntrip Caster RTKLIB Manual 12 STRSVR (1)

8 Rtklib_<ver>\bin\ STRSVR (2) Serial, TCP Client, TCP Server, NTRIP Client, File Opt .. Serial Cmd .. Serial TCP Client TCP Server TCP Server TCP Client NTRIP Server NTRIP Client NTRIP Caster RTKLIB NTRIP Caster NTRIP NTRIP Caster NTRIP Caster (3) Serial, TCP Client, TCP Server, NTRIP Server, File File 3 (4) Start TCP Client, TCP Server, NTRIP Client, NTRIP Server.

9 RTKLIB Manual 13(5) (bytes) (bps) Stop (6) RTKLIB Manual RTKLIB RINEX RTKPOST RTKPOST (1) rtklib_<ver>\bin\ Intel MKL rtklib_<ver>\bin\ (2) Observation Data RINEX Navigation Messages RINEX .. Navigation Message Observation Data .obs .nav .yyo .yyn (3) Base Station Observation Data RINEX (4) Output File (5) RTKLIB Manual 15(6) Execute done Abort (7) ( ) (8) ( ) RTKPLOT RTKPLOT RTKLIB Manual 16(9) Time Start Time End Interval On (GPST) (GPST) (s) ?

10 UTC GPS Week GPS Time (TOW) (10) Google Earth kml To Google Earth Converter RTKLIB Manual RINEX RTKLIB RINEX RINEX RTKCONV RTKCONV (1) rtklib_<ver>\bin\ (2) Receiver Log File - NovAtel : RANGECMPB, RAWEPHEMB, IONUTCB, RAWWAASFRAMB - u-blox : RXMRAW, RXMSFRM - Superstar II : ID#20, ID#21, ID#22, ID#23, ID#67 - Crescent : BIN80, BIN94, BIN95, BIN96 (3) Format Auto NovAtel u-blox Superstar II Crescent Auto (4) RINEX OBS RINEX NAV SBAS off (5) Convert RTKLIB Manual 18 Abort (6) RTKPLOT RINEX (7) Time Start Time End Interval (8) RINEX RTKLIB Manual (1) 1 (Setting 1) Item Descriptions Notes Positioning Mode Single.