RTKLIB ver. 2.4.2 Manual

1 Copyright (C) 2007 2013, T. Takasu. All rights reserved. i RTKLIB ver. Manual April 29, 2013 Contents 1 Overview .. 1 2 User Requirements .. 3 System Requirements .. 3 License .. 4 3 Instructions .. 5 Installation and Uninstallation .. 5 Real Time Positioning with RTKNAVI .. 7 Configure Input, Output and Log Streams for RTKNAVI .. 22 Post Processing Analysis with RTKPOST .. 29 Configure Positioning Options for RTKNAVI and RTKPOST .. 34 Convert Receiver Raw Data to RINEX with RTKCONV .. 50 View and Plot Solutions with RTKPLOT .. 55 View and Plot Observation Data with RTKPLOT .. 69 Download GNSS Products and Data with RTKGET .. 77 NTRIP Browser .. 83 Use CUI APs of RTKLIB .. 86 4 Build APs or Develop User APs with RTKLIB .. 87 Rebuild GUI and CUI APs on Windows.

2 87 Build CUI APs .. 88 Develop and Link User APs with RTKLIB .. 89 Appendix A CUI Command References .. 90 RTKRCV .. 90 RNX2 RTKP .. 93 POS2 KML .. 95 CONVBIN .. 96 STR2 STR .. 99 iiAppendix B File Formats .. 101 Positioning Solution File .. 101 SBAS Log File .. 104 Solution Status File .. 106 Configuration File .. 109 URL List File for GNSS Data .. 112 Appendix C API References .. 114 Appendix D Files and Messages .. 122 Supported RINEX Files .. 122 Supported Receiver Messages .. 123 Supported Signal IDs/Observation Types .. 125 Default Priorities of Multiple Signals .. 127 Receiver Dependent Input Options .. 128 Appendix E Models and Algorithms .. 129 Time System .. 131 Coordinates System .. 134 GNSS Signal Measurement Models .. 137 GNSS Satellite Ephemerides and Clocks.

3 142 Troposphere and Ionosphere Models .. 149 Single Point Positioning .. 154 Kinematic, Static and Moving Baseline .. 161 PPP (Precise Point Positioning) .. 171 Appendix F GNSS Signal Specifications .. 177 References .. 179 RTKLIB ver. Manual 11 Overview RTKLIB is an open source program package for standard and precise positioning with GNSS (global navigation satellite system). RTKLIB consists of a portable program library and several APs (application programs) utilizing the library. The features of RTKLIB are: (1) It supports standard and precise positioning algorithms with: GPS [1][2][3], GLONASS [4], Galileo [5], QZSS [6], BeiDou [7] and SBAS [8] (2) It supports various positioning modes with GNSS for both real time and post processing: Single, DGPS/DGNSS, Kinematic, Static, Moving Baseline, Fixed, PPP Kinematic, PPP Static and PPP Fixed.

4 (3) It supports many standard formats and protocols for GNSS: RINEX [9], [10], [11] OBS/NAV/GNAV/HNAV/LNAV/QNAV, RINEX [12], [13], [14] OBS/NAV, RINEX CLK [15], rtcm [16], rtcm (with amendment 1 5) [17], rtcm [18], BINEX [19], NTRIP [20], NMEA 0183 [21], SP3 c [22], ANTEX [23], IONEX [24], NGS PCV [25] and EMS [26] (refer Appendix and for details). (4) It supports several GNSS receivers proprietary messages: NovAtel [27]: OEM4/V/6, OEM3, OEMStar, Superstar II, Hemisphere [28]: Eclipse, Crescent, u blox [29]: LEA 4T/5T/6T, SkyTraq [30]: S1315F, JAVAD [31] GRIL/GREIS, Furuno [32] GW 10 II/III and NVS [33] NV08C BINR (refer Appendix for details). (5) It supports external communication via: Serial, TCP/IP, NTRIP, local log file (record and playback) and FTP/HTTP (automatic download).

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

6 (7) It includes the following GUI (graphical user interface) and CUI (command line user interface) APs. () shows the section describing the instruction for each AP in the Manual . RTKLIB ver. Manual 2 Function GUI AP CUI AP Notes (a) AP Launcher RTKLAUNCH ( ) (b) Real Time Positioning RTKNAVI ( , , ) RTKRCV ( , ) (c) Communication Server STRSVR, ( ) STR2 STR ( , ) (d) Post Processing Analysis RTKPOST ( , ) RNX2 RTKP ( , ) (e) RINEX Converter RTKCONV ( ) CONVBIN ( , ) (f) Plot Solutions and Observation Data RTKPLOT ( , ) (g) Downloader for GNSS Products and Data RTKGET ( ) (h) NTRIP Browser SRCTBLBROWS ( ) (8) All of the executable binary APs for Windows are included in the package as well as whole source programs of the library and the APs. RTKLIB GUI APs on Windows 7 RTKLIB ver.

7 Manual 32 User Requirements System Requirements The executable binary GUI and CUI APs included in the package require Microsoft Windows [35] environment. On the other OS or environment, you have to compile and build CUI APs by yourself. All of the library functions and APIs were written in ANSI C (C89). The library internally uses winsock and WIN32 thread for Windows with the compiler option DWIN32 and the standard socket and pthread (POSIX thread) for Linux/UNIX without any option. By setting the compiler option DLAPACK or DMKL, the library uses LAPACK/BLAS [36] or Intel MKL [37] for fast matrix computation. The CUI APs were also written in ANSI C. The library and CUI APs can be built on many environments like gcc on Linux. The GUI APs were written in C++ and utilize Embarcadero/Borland VCL (visual component library) [38] for GUI toolkits.

8 All of the executable binary APs in the package were built by Embarcadero C++ builder XE2 Starter Edition on Windows 7. The executable GUI APs were tested on Windows 7 (64bit). The CUI APs were also built and tested on Ubuntu [39] Linux and x86 CPU. Notes: Previous versions of RTKLIB until ver. were built by a free edition of Borland C++ (Turbo C++ 2006). Turbo C++, however, is no longer supported in ver. because of type incompatibility problem of GUI strings between and the previous ones. RTKLIB ver. Manual License The RTKLIB software package is distributed under the following BSD 2 clause license [40] and additional two exclusive clauses. Users are permitted to develop, produce or sell their own non commercial or commercial products utilizing, linking or including RTKLIB as long as they comply with the license.

9 Notes: Previous versions of RTKLIB until ver. had been distributed under GPLv3 [59] license. Copyright (c) 2007 2013, T. Takasu, All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. The software package includes some companion executive binaries or shared libraries necessary to execute APs on Windows.

10 These licenses succeed to the original ones of these software. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.