Manualx Manual RTKLIB 2.4.2

User Manual:

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

i



RTKLIBver.2.4.2Manual



April29,2013

Contents

1 Overview..............................................................................................................................................................1

2 UserRequirements..............................................................................................................................................3

2.1 SystemRequirements.................................................................................................................................3

2.2 License..........................................................................................................................................................4

3 Instructions..........................................................................................................................................................5

3.1 InstallationandUninstallation..................................................................................................................5

3.2 Real‐TimePositioningwithRTKNAVI.....................................................................................................7

3.3 ConfigureInput,OutputandLogStreamsforRTKNAVI...................................................................22

3.4 Post‐ProcessingAnalysiswithRTKPOST..............................................................................................29

3.5 ConfigurePositioningOptionsforRTKNAVIandRTKPOST............................................................34

3.6 ConvertReceiverRawDatatoRINEXwithRTKCONV.....................................................................50

3.7 ViewandPlotSolutionswithRTKPLOT...............................................................................................55

3.8 ViewandPlotObservationDatawithRTKPLOT.................................................................................69

3.9 DownloadGNSSProductsandDatawithRTKGET............................................................................77

3.10 NTRIPBrowser..........................................................................................................................................83

3.11 UseCUIAPsofRTKLIB...........................................................................................................................86

4 BuildAPsorDevelopUserAPswithRTKLIB..............................................................................................87

4.1 RebuildGUIandCUIAPsonWindows................................................................................................87

4.2 BuildCUIAPs............................................................................................................................................88

4.3 DevelopandLinkUserAPswithRTKLIB.............................................................................................89

AppendixA CUICommandReferences...........................................................................................................90

A.1 RTKRCV.....................................................................................................................................................90

A.2 RNX2RTKP.................................................................................................................................................93

A.3 POS2KML...................................................................................................................................................95

A.4 CONVBIN..................................................................................................................................................96

A.5 STR2STR.....................................................................................................................................................99



ii

AppendixB FileFormats..................................................................................................................................101

B.1 PositioningSolutionFile.........................................................................................................................101

B.2 SBASLogFile...........................................................................................................................................104

B.3 SolutionStatusFile..................................................................................................................................106

B.4 ConfigurationFile...................................................................................................................................109

B.5 URLListFileforGNSSData..................................................................................................................112

AppendixC APIReferences.............................................................................................................................114

AppendixD FilesandMessages......................................................................................................................122

D.1 SupportedRINEXFiles...........................................................................................................................122

D.2 SupportedReceiverMessages...............................................................................................................123

D.3 SupportedSignalIDs/ObservationTypes............................................................................................125

D.4 DefaultPrioritiesofMultipleSignals...................................................................................................127

D.5 ReceiverDependentInputOptions......................................................................................................128

AppendixE ModelsandAlgorithms..............................................................................................................129

E.1 TimeSystem.............................................................................................................................................131

E.2 CoordinatesSystem................................................................................................................................134

E.3 GNSSSignalMeasurementModels......................................................................................................137

E.4 GNSSSatelliteEphemeridesandClocks..............................................................................................142

E.5 TroposphereandIonosphereModels...................................................................................................149

E.6 SinglePointPositioning..........................................................................................................................154

E.7 Kinematic,StaticandMoving‐Baseline................................................................................................161

E.8 PPP(PrecisePointPositioning)..............................................................................................................171

AppendixF GNSSSignalSpecifications........................................................................................................177

References................................................................................................................................................................179



RTKLIBver.2.4.2Manual

1

1 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.

(3) ItsupportsmanystandardformatsandprotocolsforGNSS:

RINEX2.10[9],2.11[10],2.12[11]OBS/NAV/GNAV/HNAV/LNAV/QNAV,RINEX3.00[12],3.01[13],3.02[14]

OBS/NAV,RINEX3.02CLK[15],RTCMver.2.3[16],RTCMver.3.1(withamendment1‐5)[17],RTCM

ver.3.2[18],BINEX[19],NTRIP1.0[20],NMEA0183[21],SP3‐c[22],ANTEX1.4[23],IONEX1.0[24],NGSPCV

[25]andEMS2.0[26](referAppendixD.1andD.2fordetails).

(4) ItsupportsseveralGNSSreceiversʹproprietarymessages:

NovAtel[27]:OEM4/V/6,OEM3,OEMStar,SuperstarII,Hemisphere[28]:Eclipse,Crescent,u‐blox[29]:

LEA‐4T/5T/6T,SkyTraq[30]:S1315F,JAVAD[31]GRIL/GREIS,Furuno[32]GW‐10‐II/IIIandNVS[33]

NV08CBINR(referAppendixD.2fordetails).

(5) Itsupportsexternalcommunicationvia:

Serial,TCP/IP,NTRIP,locallogfile(recordandplayback)andFTP/HTTP(automaticdownload).

(6) ItprovidesmanylibraryfunctionsandAPIs(applicationprograminterfaces):

Satelliteandnavigationsystemfunctions,matrixandvectorfunctions,timeandstringfunctions,

coordinatestransformation,inputandoutputfunctions,debugtracefunctions,platformdependent

functions,positioningmodels,atmospheremodels,antennamodels,earthtidesmodels,geoidmodels,

datumtransformation,RINEXfunctions,ephemerisandclockfunctions,preciseephemerisandclock

functions,receiverrawdatafunctions,RTCMfunctions,solutionfunctions,GoogleEarth[34]KML

converter,SBASfunctions,optionsfunctions,streamdatainputandoutputfunctions,integer

ambiguityresolution,standardpositioning,precisepositioning,post‐processingpositioning,stream

serverfunctions,RTKserverfunctions,downloaderfunctions.

(7) ItincludesthefollowingGUI(graphicaluserinterface)andCUI(command‐lineuserinterface)APs.()

showsthesectiondescribingtheinstructionforeachAPinthemanual.



RTKLIBver.2.4.2Manual

2

FunctionGUIAPCUIAPNotes

(a)APLauncherRTKLAUNCH

(3.1)‐ 

(b)Real‐TimePositioningRTKNAVI

(3.2,3.3,3.5)

RTKRCV

(3.11,A.1)

(c)CommunicationServerSTRSVR,

(3.3)

STR2STR

(3.11,A.5)

(d)Post‐ProcessingAnalysisRTKPOST

(3.4,3.5)

RNX2RTKP

(3.11,A.2)

(e)RINEXConverterRTKCONV

(3.6)

CONVBIN

(3.11,A.4)

(f)PlotSolutionsand

ObservationData

RTKPLOT

(3.7,3.8)‐ 

(g)DownloaderforGNSS

ProductsandData

RTKGET

(3.9)‐ 

(h)NTRIPBrowserSRCTBLBROWS

(3.10)‐ 



(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.2.4.2Manual

3

2 User Requirements

2.1 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.AlloftheexecutablebinaryAPsinthepackagewerebuiltbyEmbarcaderoC++

builderXE2StarterEditiononWindows7.

TheexecutableGUIAPsweretestedonWindows7(64bit).TheCUIAPswerealsobuiltandtestedon

Ubuntu[39]11.04Linuxandx86CPU.



Notes:PreviousversionsofRTKLIBuntilver.2.4.1werebuiltbyafreeeditionofBorlandC++(TurboC++

2006).TurboC++,however,isnolongersupportedinver.2.4.2becauseoftypeincompatibilityproblemof

GUIstringsbetweenver.2.4.2andthepreviousones.



RTKLIBver.2.4.2Manual

4

2.2 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.



Notes:PreviousversionsofRTKLIBuntilver.2.4.1hadbeendistributedunderGPLv3[59]license.



‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐



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.Theselicensessucceedtotheoriginalonesofthesesoftware.



THISSOFTWAREISPROVIDEDBYTHECOPYRIGHTHOLDERSANDCONTRIBUTORSʺASISʺ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.



RTKLIBver.2.4.2Manual

5

3 Instructions

3.1 Installation and Uninstallation



(1) Extracttheprogrampackagertklib_<ver>.ziporrtklib_<ver>_bin.zip toappropriate

directory<install dir>(<ver>indicatestheversionnumber).TheRTKLIBdirectorystructureisas

follows.



rtklib_<ver>

\src  :SourceprogramsofRTKLIBlibrary*

\rcv :SourceprogramsdependingonGPS/GNSSreceivers*

\bin  :ExecutablebinaryAPsandDLLsforWindows

\data  :SampledataforAPs

\app :BuildenvironmentforAPs*

\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  :NTRIPBrowser (GUI)*

\rtkget

  :RTKGET (GUI)*

\rtklaunch :RTKLAUNCH (GUI)*

\rtkrcv

:RTKRCV (CUI)*

\rnx2rtkp :RNX2RTKP (CUI)*

\pos2kml :POS2KML (CUI)*

\convbin :CONVBIN (CUI)*

\str2str :STR2STR (CUI)*

\appcmn :CommonroutinesforGUIAPs*

\icon :IcondataforGUIAPs*

\lib :Librariesgenerationenvironment*

\test :Testprogramanddata*

\util :Utilities*

\doc :Documentfiles



*Notincludedinthebinarypackagertklib_<ver>_bin.zip



RTKLIBver.2.4.2Manual

6

(2) Createtheshot‐cutsoftheGUIAPexecutablebinariesin<install dir>\rtklib_<ver>\bin.To

executeCUIAPs,add<install dir>\rtklib_<ver>\bintothecommandpath.



(3) TheGUIandCUIAPsinRTKLIBneverutilizetheWindowsregistry.Touninstallthepackage,simply

deletethewholefilesanddirectoriesintheinstalleddirectory.



(4) OptionalsettingsforGUIAPsaresavedinINIfiles(*.ini)usuallyplacedinthedirectory<install

dir>\rtklib_<ver>\bin.NotethatthedirectoryfortheINIfilesischangedinver.2.4.2.To

succeedyouroptionalsettingsforthepreviousversionRTKLIBAPs,pleasecopytheINIfiles(*.ini)in

c:\Windowstothedirectory<install dir>\rtklib_<ver>\bin.



(5) SomeGUIAPs(RTKCONV,RTKPOST,RTKNAVI,RTKGETandSTRSVR)canbeexecutedwiththe

commandlineoption-i <inifile>.ini

toselectanalternativeINIfileforanotheroptionalsettings.

YoucanswitchoptionsforsuchAPsbyusingthecommandlineoptionaswellastheoption-t

<title> tochangethewindowtitle.Soyoucanconfiguremultipleshort‐cutsforthesameGUIAP

withdifferentoptionsbysettingthepropertiesoftheseshort‐cuts.



(6) TouseRTKPOST_MKLorRTKNAVI_MKL,whichistheIntel‐MLK‐library‐linkedversionRTKPOST

orRTKNAVIforfastermatrixcomputationonmultiple‐coreCPUormultiple‐processorPCs,pleaseset

theWindowsenvironmentvariableOMP_NUM_THREADSto2,4or8accordingtothenumberofthe

CPUcores.Thatenablesmulti‐threadingmatrixcomputationinordertoshortenprocessingtime.



(7) ToexecuteGUIAPseasily,anAPlauncherapplicationRTKLAUNCHisaddedinver.2.4.2.Torun

RTKLAUNCH,execute<install dir>\rtklib_<ver>\bin\rtklaunch.exe.YoucanclickAP

iconsintheRTKLAUNCHwindoworselectpop‐upmenusatthetask‐tray‐iconinordertoexecute

RTKLIBAPs.RTKLAUNCHacceptstheoption-mkltolaunchRTKPOST_MKLandRTKNAVI_MKL

insteadofRTKPOSTandRTKNAVI,andtheoption-traytostartthelauncherasatask‐tray‐icon.



Figure3.1‐1RTKLAUNCHwindowandlaunchericonsforAPs

RTKPLOTRTKCONVSTRSVR RTKPOST NTRIPBrowser RTKNAVIRTKGET

Buttontoiconizein

WindowsTaskTray

RTKLIBver.2.4.2Manual

7

3.2 Real-Time Positioning with RTKNAVI



Anreal‐timepositioningAPRTKNAVIinputsrawobservationdataofGPS/GNSSreceiversandexecute

navigationprocessinginreal‐time.BysettingthepositioningmodetoKinematicandconfiguringtherover

andthebasestationreceiverdatainputs,RTK‐GPS/GNSSisenabledwithOTF(on‐the‐fly)integer

ambiguityresolution.



(1) ExecutethebinaryAPfile<install dir>\rtklib_<ver>\bin\rtknavi.exe.(double‐clickthe

iconorfullinthepathinthecommandconsole)YoucanseethemainwindowofRTKNAVI. Youcan

alsoexecute<install dir>\rtklib_<ver>\bin\rtknavi_mkl.exeinstead.







Figure3.2‐1MainWindowofRTKNAVI



(2) ThefollowingfigureshowsthedataflowofRTKNAVI.YouhavetosetupInputStreams,Output

Streams(optional)andLogStreams(optional)forreal‐timepositioning.Refer3.3ConfigureInput,

OutputandLogStreamsforRTKNAVIforseveralsampleconfigurationsofthesestreams.





Operation

Buttons

TimeDisplay

Solution

Display

RTKMonitor

Button

Input/Output/Log

Stream

Status/Settin

SignalLevel/

SatelliteVisibility

Display

MessageAreaSaveLogButton

DisplaySwitch

RTKLIBver.2.4.2Manual

8



Figure3.2‐2DataFlowofRTKNAVI



(3) Forreal‐timepositioningwithRTKNAVI,youhavetoinputtherawobservationdataandsatellite

ephemeridesfromtheGPS/GNSSreceivers.Tosettheinputstream,pushthebuttonIuppercenter

inthemainwindow.YoucanseetheʺInputStreamsʺdialog.



Figure3.2‐3InputStreamsDialogofRTKNAVI



(4) CheckandsetthestreamtypeofRover,Base‐stationorCorrectioninthedialog.Ifyousetthe

ʺPositioningModeʺ optionʺSingleʺ,theinputstreamsforʺBase‐stationʺ andʺCorrectionʺ arenot

required.Thestreamtypescanbeselectedfromthefollowingoptions.



(a)Serial :Inputdatafromaserialport(RS232CorUSB)

(b)TCPClient :ConnecttoaTCPserverandinputdataviatheTCPconnection

(c)TCPServer :AcceptaTCPclientconnectionandinputdataviatheTCPconnection

RTKNAVI

(1)InputRover

(2)InputBaseStation

(4)OutputSolution1

(5)OutputSolution2

(6)LogRover

(7)LogBaseStation

InputStreams(I)OutputStreams(O)

LogStreams(L)

GPS/GNSS

Receivers

(3)InputCorrection

(8)LogCorrection

Correction

Provider

RTKLIBver.2.4.2Manual

9

(d)NTRIPClient:ConnecttoaNTRIPcaster[20]andinputdataviatheNTRIP.

  NRTK(networkRTK)serversupportingNTRIPandRTCM2/3can

  alsobeusedforthebase‐stationviaInternet.

(e)File :Inputdatafromalogfile.

(f)FTP :InputdataafterdownloadingafilebyFTP(OnlyforCorrection)

(g)HTTP :InputdataafterdownloadingafilebyHTTP(OnlyforCorrection)



Youhavetoselectthestreamdataformatfromthefollowingoptionswiththepulldownmenuunder

ʺFormatʺ.ReferAppendixD.2forsupportedmessagesbyRTKLIB.Youshallconfigureyour

GPS/GNSSreceiverstooutputatleastGPS/GNSSobservationdataandnavigationdata(ephemerides).

Fordetailedoperationforthereceiversettings,refertheappropriatemanualsfortheGPS/GNSS

receivers.



(a)RTCM2 :RTCM2.3

(b)RTCM3 :RTCM3.0,3.1(withamendment1‐5)and3.2

(c)NovAtelOEM6:NovAtelOEM4/V/6andOEMStarbinaryformat

(d)NovAtelOEM3:NovAtelOEM3(Millennium)binaryformat

(e)u‐blox :u‐bloxLEA‐4T,5Tand6Tbinaryformat

(f)SuperstarII :NovAtelSuperstarIIbinaryformat

(g)Hemisphere :HemisphereCrescent/Eclipsebinaryformat

(h)SkyTraq :SkyTraqS1315Fbinaryformat

(i)GW10 :FurunoGW‐10‐II/IIIbinaryformat

(j)Javad :JAVADGRIL/GREISbinaryformat

(k)NVSBINR :NVSNV08CBINRformat

(l)BINEX :BINEXformat(onlysupportsbig‐endian,forward,regularCRC)

(m)SP3 :SP3preciseephemeris(onlyforCorrection)



(5) IfyouselectʺSerialʺasthestreamtype,push...buttonunderʺOptʺlabeltosettheoptionsofʺPortʺ

selection,ʺBit‐rateʺ,ʺBytesizeʺ,ʺParityʺ,numberofʺStopbitsʺ andʺFlowControlʺ withtheʺSerial

Optionsʺdialog.



RTKLIBver.2.4.2Manual

10



Figure3.2‐4SerialOptionDialogofRTKNAVI



(6) IncaseofselectingʺSerialʺ,ʺTCPClientʺ orʺTCPServerʺ asthestreamtype,youcanconfigurethe

startupandshutdowncommandstobesenttotheGPS/GNSSreceiverthroughthestream.Tosetup

thecommands,push...buttonundertheʺCmdʺ label.Fillincommandsinthetextfieldsinthe

ʺSerial/TCPCommandsʺ dialog.IfyoudonotcheckʺCommandsatstartupʺ orʺCommandsat

shutdownʺ,thestartuporshutdowncommandisnotsenttothereceiver.Youcanalsoloadthe

commandsfromacommandfilebypushingLoad...buttonorsavethecommandstoacommandfile

withSave...button.Acommandfileisjustatextfileincludingstartupcommandsandshutdown

commandsseparatedbyalinestartingwithʺ@ʺ.SamplecommandfilesforsometypicalGPS/GNSS

receiversarefoundat<install dir>\rtklib_<ver>/data/*.cmd.



Figure3.2‐5Serial/TCPCommandsDialogofRTKNAVI



(7) Alinestartingwithʺ!ʺ inthecommandsistreatedasareceiverbinarycommand.Thefollowing

commandscanbeusedforu‐blox,SkyTraqandNVSreceivers.Referthereceiversʹmanualsfordetails.



!UBX ...:u‐bloxLEA‐4T/5T/6Tcommand

!UBX CFG-PRT portid res0 res1 mode baudrate inmask outmask flags

!UBX CFG-USB vendid prodid res1 res2 power flags vstr pstr serino

RTKLIBver.2.4.2Manual

11

!UBX CFG-MSG msgid rate0 rate1 rate2 rate3

!UBX CFG-NMEA filter version numsv flags

!UBX CFG-RATE meas nav time

!UBX CFG-CFG clear_mask save_mask load_mask

!UBX CFG-TP interval length status time_ref res adelay rdelay udelay

!UBX CFG-NAV2 ...

!UBX CFG-DAT maja flat dx dy dz rotx roty rotz scale

!UBX CFG-INF protocolid res0 res1 mask0 mask1 mask2 mask3

!UBX CFG-RST navbbr reset res

!UBX CFG-RXM gpsmode lpmode

!UBX CFG-ANT flags pins

!UBX CFG-FXN flags treacq tacq treacqoff tacqoff ton toff res basetow

!UBX CFG-SBAS mode usage maxsbas res scanmode

!UBX CFG-LIC key0 key1 key2 key3 key4 key5

!UBX CFG-TM intid rate flags

!UBX CFG-TM2 ch res0 res1 rate flags

!UBX CFG-TMODE tmode posx posy posz posvar svinmindur svinvarlimit

!UBX CFG-EKF ...

!STQ ...:SkyTraqS1315Fbinarycommand

!STQ RESTART [arg...] system restart

!STQ CFG-SERI [arg...] configure serial port property

!STQ CFG-FMT [arg...] configure output message format

!STQ CFG-RATE [arg...] configure binary measurement output rates

!NVS ...:NVSNV08Cbinarycommand

!NVS CFG-PVTRATE [arg...] configure PVT rate

!NVS CFG-RAWRATE [arg...] configure raw data rate

!NVS CFG-SMOOTH configure smooth range

!NVS CFG-BINR xx [...] send binary command for NVS

(input hexadecimal series)

!WAIT time:waitfortime(ms)



(8) IfyouselectʺTCPClientʺorʺTCPServerʺasthestreamtype,youcansettheoptionsofʺTCPserver

addressʺ (forTCPClientonly)andtheʺPortʺ numberwiththeʺTCPClientOptionsʺ orʺTCPServer

Optionsʺ dialog.IfyouselectʺTCPServerʺ asthestreamtype,multipleTCPclientconnectionsare

allowed.



RTKLIBver.2.4.2Manual

12



Figure3.2‐6TCPClientOptionsDialogofRTKNAVI



Figure3.2‐7TCPServerOptionsDialogofRTKNAVI



(9) IfyouselectʺNTRIPClientʺasthestreamtype,youcansettheoptionsofʺNTRIPCasterHostʺaddress,

ʺPortʺ number,ʺMount‐pointʺ ofNTRIPcaster,ʺUser‐IDʺ andʺPasswordʺ withtheʺNTRIPClient

Optionsʺdialog.IfyoukeeptheʺPortʺfieldblank,thedefaultportnumber(2101)ofNTRIPisused.

NotethatʺUser‐IDʺcannotcontainʺ:ʺ.



Figure3.2‐8NTRIPClientOptionsDialogofRTKNAVI



(10) IfyouselectʺFileʺasthestreamtype,inputthefilepathtothetextfieldInputFilePaths.Fillinthepath

directlyorselectafilewiththefileselectiondialogbypushing...button.Theinputfileshouldbea

receiverrawdatalog.YoucansetthereplayspeedandthestarttimeoffsetofthelogfileinTimefield

(Tousethefeature,youhavetorecordthelogwiththetime‐tagfile.)



RTKLIBver.2.4.2Manual

13



Figure3.2‐9InputStreamsDialogofRTKNAVI



(11) BypushingtheʺOptʺ buttonrightoftheinputstreamʺFormatʺ,youcansetreceiver‐dependent

optionslikeʺ-GL1X -RL1C -EPHALLʺwiththeʺReceiverOptionʺdialog.Multipleoptionscanbeused

separatedbyspaces.Fordetailedreceiver‐dependentoptions,referAppendixD.4ReceiverDependent

InputOptions.Iftheinputobservationdatastreamcontainmultiplesignalsinafrequency,asignalin

useforsolutionsisselectedbythedefaultsignalprioritieswithoutsuchoptions.ReferAppendixD.3

DefaultPrioritiesforMultipleSignals.



Figure3.2‐10ReceiverOptionDialogofRTKNAVI



(12) IncaseofusingaNRTK(networkRTK)service,whichrequiresNMEAGPGGAmessagestoselect

referencestationortosetuptheVRS(virtualreferencestation)position,selectthemessagecontent

withthepulldownmenuatʺTransmitNMEAGPGGAtoBaseStationʺ.Ifyouselect

ʺLatitude/Longitudeʺ tosendafixedposition,fillinthelatitudeandlongitudeofthepositionfor

NMEAGPGGAmessagesindegree(minusmeanssouthorwest).



(13) Forthecorrectionstream,youcanselectʺFTPʺ orʺHTTPʺ asthestreamtype.AfterpushingʺOptʺ

button,youhavetoconfigureFTPorHTTPoptionswiththeʺFTPOptionʺorʺHTTPOptionʺdialog.At

first,fillintheserveraddressandthefilepathintheʺDownloadAddressʺfieldastheformat<server

address>/<file path>.Usuallyyoumightneedtoincludedayortimekeywordsin<file path>.

Forexample,incaseofdownloadingIGSultra‐rapidephemerisfromtheNASAGSFCCDDISdata

server,youcaninputthedownloadaddresslike:

RTKLIBver.2.4.2Manual

14

cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z

Inthiscase,thekeywords%W,%Dand%hbarereplacedbyGPSweeknumber,dayofweekand6hour

ofthedayaccordingtothedownloadtimeinGPSTime,respectively.Forotherkeywordswhichcanbe

usedinthefilepath,push?buttonandseethedialog.YoucanalsosetDownloadInterval,

DownloadOffset(forexample,Interval=6HandOffset=2Hmeansthedownloadwillbetriedat2:00,

8:00,14:00and20:00inGPSTime),TimeOffsetinPathforreplacingthekeywordsinthefilepath,

RetryInterval,User(forFTPonly)andPassword(forFTPonly)fortheserver.ForUserandPassword,

ʺanonymousʺandyourmailaddressareusuallyusedforanonymousFTPservers.



Figure3.2‐11FTPOptionDialogofRTKNAVI



Tousedownloadfiles,youalsohavetosetthefileformatintheʺInputʺdialog.Currentversiononly

supportsSP3preciseephemerisforthispurpose.Downloadedfilesaresavedinalocaldirectory.The

localdirectorypathshallbesetwiththeʺOptionsʺdialog‐ʺFilesʺ‐ʺFTP/HTTPLocalDirectoryʺ.



(14) TooutputofthepositioningsolutionsbyRTKNAVI,youshallsettheoutputstreams.Tosettheoutput

streams,pushthebuttonOupperrightinthemainwindow.YoucanseetheʺOutputStreamsʺ

dialog.Checkandsetthestreamtypeofsolutioninthedialog.Youcanconfiguretwoindependent

outputstreamsasmaximum.YoucanselectthestreamtypeoutofʺSerialʺ,ʺTCPClientʺ,ʺTCPServerʺ,

ʺNTRIPServerʺ andʺFileʺ.Theoptionsaresimilartotheinputstreams.Youalsohavetoselectthe

followingoutputformatoptions.Thetimeandlatitude/longitudeformats,thetypeofheightandthe

geoidmodelandtheNMEAintervalinoutputmessagesalsocanbeconfiguredbythepositioning

optionsdescribedin3.5.



(a)Lat/Lon/Height :Latitude,longitudeandheight

(b)X/Y/Z‐ECEF  :X/Y/ZcomponentsinECEFframe

(c)E/N/U‐Baseline :E/N/Ucomponentsofthebaseline

(d)NMEA0183  :NMEA0183GPRMC,GPGGA,GPGSA,GLGSA,GAGSA,

GPGSV,GLGSVandGAGSV



RTKLIBver.2.4.2Manual

15



Figure3.2‐12OutputStreamsDialogofRTKNAVI



(15) IfyouselectʺFileʺ astheoutputstreamtype,youcanincludesomekeywordsinthefilepathtobe

replacedbydateortime.Push?buttontoshowthekeywordreplacementinthefilepaths.Ifyouset

theʺSwapIntvʺ option,theoutputfileisswappedperiodicallyinthespecifiedcycle.Tousethefile

swapfeature,thefilepathmustcontainthekeywordstobereplacedbytheswaptimeinordertoavoid

overwritingthepreviousfile.



Figure3.2‐13KeywordReplacementDialogofRTKNAVI



(16) IfyouselectʺNTRIPServerʺastheoutputstreamtype,youhavetosetNTRIPserveroptionswiththe

ʺNTRIPServerOptionʺ dialog.TheoptionsincludetheaddressofʺNTRIPCasterHostʺ,theʺPortʺ

numbertoconnectNTRIPcaster,NTRIPʺMount‐pointʺ,ʺPasswordʺ andʺStringʺ showingthe

source‐tableparameterstoNTRIPCaster.IftheʺPortʺfieldblank,thedefaultportnumber(80)isused.

ThebuttonNtrip...launchestheNTRIPbrowserAPtoshowthesourcetableprovidedbytheNTRIP

caster.Refer3.10NTRIPBrowserfordetails.



RTKLIBver.2.4.2Manual

16



Figure3.2‐14NTRIPServerOptionsDialogofRTKNAVI



(17) Tooutputaninputstreamasapath‐throughlog,setthelogstreams.Toconfigurethelogstreams,

pushthebuttonLupperrightinthemainwindow.YoucanseetheʺLogStreamsʺ dialog.The

settingsaresimilartotheoutputstreams.Ifyouwanttoreplaythelogfileasaninputstreamlater,you

havetochecktheʺTime‐Tagʺoptionandoutputthetimetagfilesimultaneously.Theoutputpathofthe

timetagfileisautomaticallysetto<output file path>.tag.Thekeywordreplacementsinthefile

pathsandtheswapintervalarethesameastheʺOutputStreamsʺdialog.



Figure3.2‐15LogStreamsDialogofRTKNAVI



(18) Toconfigurethepositioningoptions,pushOptions...buttonandsettheoptionsintheʺOptionsʺ

dialog.Fordetailsofthepositioningoptions,refer3.5ConfigurePositioningOptionsforRTKNAVI

andRTKPOST.



(19) PushStartbutton.Thestatusofeachstreamsareshownontheupperrightindicators.Fromtheleft,

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,Deep‐greenmeans

connectedorrunning,Light‐greenmeansdataactive(input,outputorprocessing)andRedmeansa

communicationerroroccurs.Somestatusmessagesarealsoshowninthelowercentermessageareain

RTKLIBver.2.4.2Manual

17

themainwindow.TostopthepositioningprocessinRTKNAVIpushStopbutton.



Figure3.2‐16MainWindowofRTKNAVI(RUNNING)



(20) Aftertheinputobservationdataandephemeridesarecompletedandvalid,RTKNAVIcomputesthe

positioningsolutionanddisplayitinthesolutiondisplayleftinthemainwindowwiththesolution

status(FIX,FLOAT,DGPS,SBAS,SINGLEorPPP),E/N/UorX/Y/Zcomponentsofthestandard

deviation,Age(ageofdifferential),Ratio(ratiofactorofambiguityvalidation)and#ofSat(numberof

validsatellites).Toswitchtheformatinthesolutiondisplay,pushbuttonupperrightcorner.You

canswitchthesolutiontoLat/Lon/Height(degree/minute/second),Lat/Lon/Height(degree),

X/Y/Z‐ECEF(m),E/N/U‐Baseline(m),Pitch/Yaw/Length‐Baseline(deg,m),alternatively.Inthe

Lat/Lon/Heightmodes,thelabelsʺHʺ andʺHeʺ indicatesthegeodeticandellipsoidalheight,

respectively.



Figure3.2‐17SolutionStatusDisplayofRTKNAVI



(21) Toswitchtheformatinthetimedisplay,pushGPSTbuttonuppercenterinthemainwindow.You

canswitchthetimesystemtoGPST,UTC,LT(localtime)andGPST(GPSweek/TOW),alternatively.



(22) Inthestatusdisplayrightinthemainwindow,observationSNR(signaltonoiseratio,C/N0)statusor

visiblesatellitesinskyplotareshown.Bypushingbuttonupperrightcornerofthestatusdisplay,

youcanswitchthecontentstoRover:BaseSNR,RoverSNR,RoverSkyplot,BaseSkyplotandBaseline

RTKLIBver.2.4.2Manual

18

plot,WideRover:BaseSNR,Wide‐modeRoverSNR,alternatively.Youcanswitchthefrequency

showintheplotbypushingthesecondbuttonneartheupperrightcorner.IntheSNRplotsorthe

Skyplots,thecolorsexceptforGrayasnot‐in‐useindicatethesignalSNRas:>45...40...35...25...<25

(dBHz).ThecolorsofthesatelliteIDsintheSNRplotsalsoindicatethesatellitesystemas:GPS(G),

GLONASS(R),Galileo(E),QZSS(J),BeiDou(C)andSBAS(S).



Figure3.2‐18SatelliteandSignalStatusDisplayofRTKNAVI



(23) ThesizeofRTKNAVIwindowcanbechangedbydraggingtheedgeofthewindow.Theseparator

betweentheleftandtherightsub‐windowscanbealsodraggedtochangethelayoutofthewindow.To

showthestatusofmanyofsatellites,usethisfeatureintroducedinver.2.4.2.ThefontintheSolution

sub‐windowcanbechangedbythesettingsbytheoptionsdialogtheʺOptionsʺ ‐ ʺMiscʺ ‐ ʺSolution

Fontʺ.



Figure3.2‐19SizeExpandedMainWindowofRTKNAVI



(24) BypushingPlot...button,youcanexecuteRTKPLOTtoplotthecurrentpositionoftheroverreceiver

onthegraphasthereal‐timesolutionmode.FordetailstouseRTKPLOT,pleaserefer3.7Viewand

RTKLIBver.2.4.2Manual

19

PlotSolutionsandObservationDatawithRTKPLOT.



Figure3.2‐20RTKPLOTWindowexecutedbyRTKNAVI



(25) Thepositioningsolutionsarerecordedintheinternalbuffersimultaneously.Youcansavetheinternal

solutionbuffertothefilebypushing...belowthesolutiondisplay.Thesizeofthesolutionbufferand

thesavedsolutionlogcanbeconfiguredwiththeʺOptionsʺdialog.



(26) Bypushingthebuttonlowerleftinthemainwindow,youcanseetheʺRTKMonitorʺ window.

Withthewindow,youcanseetheinternalstatusofRTKNAVI.Youcanselectthefollowingcontents

withtheupperleftpulldownmenu.MultipleʺRTKMonitorʺwindowsareallowedtobeshownatthe

sametime.Toclosethewindow,pushClosebutton.



RTKLIBver.2.4.2Manual

20



Figure3.2‐21RTKMonitorWindowofRTKNAVI



(a)RTK :Generalstatusoftheinternalpositioningprocess

(b)ObsData :Inputobservationdata.RCV=1meansroverand2meansbase‐station

(c)NavGPS :GPSsatellitenavigationmessages

(d)NavGLONASS:GLONASSsatellitenavigationmessages

(e)NavGalileo :Galileosatellitenavigationmessages

(f)NavQZSS :QZSSsatellitenavigationmessages

(g)NavBeiDou :BeiDousatellitenavigationmessages

(h)NavGEO :GEO/SBASsatellitenavigationmessages

(i)Time/Iono :TimeandIonosphereparameters

(j)Streams :Statusofinput,outputandlogstreams

(k)SatGPS :StatusofGPSsatellites

(l)SatGLONASS:StatusofGLONASSsatellites

(m)SatGalileo :StatusofGalileosatellites

(n)SatQZSS :StatusofQZSSsatellites

(o)SatBeiDou :StatusofBeiDousatellites

(p)SatGEO :StatusofGEO/SBASsatellites

(q)States :Statevectorvaluesoftheestimationfilter

(r)Covariance :Covariancematrixoftheestimationfilter

(s)SBASMsgs :HEXdumpofinputSBASmessages

(t)SBASLong :SBASlongtermsatellitecorrections

(u)SBASIono :SBASionosphericdelaycorrections

(v)SBASFast :SBASfastcorrections

(w)RTCMMsgs :StatusofRTCM2or3messages

RTKLIBver.2.4.2Manual

21

(x)RTCMDGPS :RTCMDGPScorrections

(y)RTCMSSR :RTCMSSRcorrections

(z)LEXMsgs :(reserved)

(aa)LEXEph/Clock:(reserved)

(ab)LEXIono :(reserved)

(ac)IonoCorrection:Ionospherecorrections

(ad)(1)Rover :DumpofInputRoverstream

(ae)(2)BaseStation:DumpofInputBaseStationstream

(af)(3)Correction:DumpofInputCorrectionstream

(ag)(4)(5)Solution1/2:DumpofOutputSolution1/2stream

(ah)Error/Warning:Errororwarningmessages



(27) Incaseofselecting(1)Rover,(2)BaseStationor(3)CorrectionforʺRTKMonitorʺ,youcanselectthe

inputmessageformatwiththepull‐downmenuuppercenterofthewindowanddumpthemessages

intheinputstream.Adumplineshowsamessagecontainingthefields:messagetype,(messagelength

inbytes):messagecontentsdependingonthemessageformat.



Figure3.2‐22StreamDumpinRTKMonitorWindowofRTKNAVI



(28) Bypushing buttonlowerrightinthemainwindow,youcanminimizethemainwindowasanicon

inthetask‐trayofWindowsdesktop.Torestorethemainwindow,double‐clickthetask‐tray‐iconor

clickright‐buttononthetask‐tray‐iconandselectmenuʺMainWindow...ʺ.



RTKLIBver.2.4.2Manual

22

3.3 Configure Input, Output and Log Streams for RTKNAVI



ForrelativepositioninglikeRTK‐GPS/GNSS,theroverreceiverandthebasestationreceiverareusually

placedontheseparatedsites.Inothercases,usermightusethepositioningresultattheremotesitefarfrom

thesereceivers.Tointerconnectthesesites,userhastoestablishdatacommunicationlinks.Tofacilitateeasy

setupofthesecommunicationlinks,RTKLIBprovidesacommunicationserverutilityAPSTRSVR,with

whichusercanconfigureinputandoutputdatastreamviathesecommunicationlinks.STRSVRalsohas

thefunctionofrelayorsplitthedatastreamforreal‐timepositioningwithRTKNAVI.



Forexample,toreceiveobservationdataofaremotebasestationataroverreceiversiteandtogetRTK‐GPS

solution,usercanplacearemotePCinstallingSTRSVRconnectingtothebasestationreceiverandcan

configureSTRSVRtosenddatatotheroversite.Thefollowingexamplesshowthetypicalapplicationsof

RTKNAVIandSVRSVR.



(1) Single‐pointpositioningandoutputsolutionstoafile



(2) Singlepointpositioning,outputsolutionstoaserialdevice,logdatatoafile





GPS/GNSS

ReceiverRTKNAVI

Serial

(1)InputRover=Serial

(4)Out

utSolution1=File

File

RTKNAVI

Serial

(1)InputRover=Serial

(4)OutputSolution1=Serial

(6)LogRover=File

Serial

Log

GPS/GNSS

Receiver

RTKLIBver.2.4.2Manual

23

(3) RTK‐GPS/GNSS,inputtheroverandbase‐stationdatafromtwoserialdevices



(4) RTK‐GPS/GNSS,inputroverdatafromaserialportandinputbase‐stationdatafromaremotereceiver

viaWi‐Finetwork.



(5) RTK‐GPS/GNSS,inputroverdatafromaserialportandinputbasestationdataviamobilephone

Internetconnection





Rover

Receiver

RTKNAVI

Serial

(1)InputRover=Serial

(2)InputBaseStation=Serial

(4)OutputSolution1=File

File

BaseStation

ReceiverSerial

Rover

Receiver



RTKNAVI

Serial

(1)InputRover=Serial

(2)InputBaseStation=TCPClient

(4)OutputSolution1=File

File

BaseStation

Receiver

Serial



STRSVR

(0)Input=Serial

(

)

Out

ut1=TCPServer

PC

TCP

Server

TCP

Client

Rover

Receiver

RTKNAVI

Serial

(1)InputRover=Serial

(2)InputBaseStation=TCPClient

(4)OutputSolution1=File

File

BaseStation

Receiver

Serial

STRSVR

(0)Input=Serial

(

)

Out

ut1=TCPServer

PC

Internet

Mobile

Phone

Terminal

Mobile

Phone

N/W

RTKLIBver.2.4.2Manual

24

(6) RTK‐GPS/GNSS,inputdatafromaserialportandinputbasestationdataviaaNTRIPcasteron

Internet.ThecurrentversiondoesnotsupportNTRIPcasterfeature.Pleaseemploysomealternative

NTRIPcasterimplementation.



(7) RTK‐GPS/GNSSwithNRTK(NetworkRTK)serviceviaInternet





Rover

GPSReceiver

RTKNAVI

Serial

(1)InputRover=Serial

(2)InputBaseStation=NTRIPClient

(4)OutputSolution1=File

File

BaseStation

GPSReceiver

Serial

STRSVR

(0)Input=Serial

(

)

Out

ut1=NTRIPServer

PC

Internet

Ntrip

Caster

Rover

GPSReceiver

RTKNAVI

Serial

(1)InputRover=Serial

(2)InputBaseStation=NTRIPClient

(4)OutputSolution1=File

File

NTRIPCasterInternet

NRTKprovider

Reference

Station

Reference

Station

Reference

Station

Reference

Station

RTKLIBver.2.4.2Manual

25

(8)MultipleRTK‐GPS/GNSSwithsingleNRTKservice



(9) Real‐timePPPwithreal‐timesatelliteorbitandclockprovidedasaNTRIPstream.





RTKNAVI

PC

NTRIPCasterInternet

NRTKprovider

Reference

Station

Reference

Station

Reference

Station

Reference

Station

STRSVR

Rover

Receiver1

RTKNAVI

PC

Rover

Receiver2

RTKNAVI

Rover

Receiver3

RTKNAVI

PC

Rover

Receiver4

(1)Input=NTRIPClient

(2)Out

ut=TCPServer

LAN

(1)InputRover=Serial

(2)InputBaseStation=TCPClient

PC

GPSReceiver

RTKNAVI

Serial

(1)InputRover=Serial

(2)InputCorrection=NTRIPClient

(4)OutputSolution1=File

File

NTRIPCasterInternet

NRTKprovider

Real‐timeOrbit

andclock

Provider

RTKLIBver.2.4.2Manual

26

(10)Long‐baselineRTKwithFTPdownloadofpreciseephemeris



ThefollowinginstructionsarefortheoperationofSTRSVR.



(1) ExecutethebinaryAPfile<install dir>\rtklib_<ver>\bin\strsvr.exe.Youcanseethe

mainwindowofSTRSVR.



Figure3.3‐1MainWindowofSTRSVR



(2) Toconfiguretheinputstream,selectthestreamtypewithpulldownmenuatʺ(0)Inputʺ.Selectable

streamtypesareSerial,TCPClient,TCPServer,NTRIPClient,File,FTPorHTTP.Thestreamoptions

orthestartup/shutdowncommandcanbesetaswellasInputStreamsforRTKNAVI.



(3) Toconfiguretheoutputstreams,selectthestreamtypewithpulldownmenuat(1)Output,(2)Output

or(3)Output.ThesettingfortheoutputstreamsaresameasOutputStreamsorLogStreamsfor

Rover

GPSReceiver

RTKNAVI

Serial

(1)InputRover=Serial

(2)InputBaseStation=NTRIPClient

(3)InputCorrection=FTP

(4)OutputSolution1=File

File

BaseStation

GPSReceiver

Serial

STRSVR

(0)Input=Serial

(

)

Out

ut1=NTRIPServer

PC

Internet



IGSDataServer

Ultra‐rapidEphemeris(SP3)

RTKLIBver.2.4.2Manual

27

RTKNAVI.

(4) Inversion2.4.2,thestreamformatconversionfunctionisadded.Tousethefunction,pushConvbutton

rightofthepulldownmenuoftheoutputstream.YoucanseeʺConversionOptionsʺdialog.Toenable

thestreamformatconversionfunction,checktheupperleftcheckboxinthedialogandselectinputand

outputformatbythepulldownmenus.Currentversionsupportsthefollowinginputandoutput

formats.

(a)Input: RTCM3,RTCM2,NovAtelOEM6,NovAtelOEM3,u‐blox,SuperstarII,Hemisphere,

 SkyTraq,GW10,Javad,NVSBINRandBINEX

(b)Output: RTCM3(RTCM2isnotsupportedyet)



Figure3.3‐2ConversionOptionDialogofSTRSVR



OutputmessagesshallbespecifiedintheMessageTypesfieldinthedialogastheform:

nnnn(ss), nnnn(ss), nnnn(ss), ....

Specifythemessagetypesasthefields nnnnandthemessageintervalsasthefields(ss)inseconds.

Themessageintervalcanbeomitted.Inthiscase,themessageintervalisdeterminedbytheinput

messageinterval.ThefollowingtableshowsallofthesupportedoutputRTCMmessages.Forantenna

infomessages,thefieldsaregivenbytheʺOptionsʺdialog.Messageinputoptionscanalsobespecified

intheʺOptionsʺfield.ReferD.5forthereceiverdependentoptionsfordetails.



SupportedoutputRTCM3messagetype

----------------------------------------------------------------------

TYPE GPS GLONASS Galileo QZSS BeiDou SBAS

----------------------------------------------------------------------

OBS C-L1 : 1001 1009 - - - -

F-L1 : 1002 1010 - - - -

C-L12 : 1003 1011 - - - -

F-L12 : 1004 1012 - - - -

NAV : 1019 1020 1045* 1044* - -

- - 1046* - - -

MSM 1 : 1071 1081 1091 1111* 1121* 1101*

2 : 1072 1082 1092 1112* 1122* 1102*

3 : 1073 1083 1093 1113* 1123* 1103*

4 : 1074 1084 1094 1114* 1124* 1104*

5 : 1075 1085 1095 1115* 1125* 1105*

6 : 1076 1086 1096 1116* 1126* 1106*

7 : 1077 1087 1097 1117* 1127* 1107*

ANT INFO : 1005 1006 1007 1008 1033

RTKLIBver.2.4.2Manual

28

----------------------------------------------------------------------

* draft version of RTCM 3 messages



(5) PushStartbuttoninthemainwindow.Thecommunicationstatusisshowninthemessagearealower

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,Dark‐Green:

connected,Light‐Green:dataactive,Red:error.Totaldataamount(bytes)anddatarate(bps)ofthe

inputandoutputstreamsarealsoshowninrightside.Tostopthecommunication,pushStopbutton.



(6) BypushingOptions...button,youcansetthecommunicationoptionswiththeʺOptionsʺdialog.To

sendNMEAGPGGAmessagetotheserverconnectedtheinputstream,checkʺNMEARequestCycleʺ

andsettherequestcycle(ms)andlatitude/longitudeinthemessages.ToconnectanexternalNTRIP

casterfromtheinsideofthefirewallviaaHTTP‐proxyserver,youcaninputtheaddressandtheport

numberastheform<address>:<port> intheʺHTTP/NTRIPProxyʺ field.Theotherfieldsinthe

dialogareforantennaandstationinformationmessagestobegeneratedincaseofusingtheformat

conversionfeatureandsendingantennainformationmessages.



Figure3.3‐3OptionsDialogofSTRSVR



RTKLIBver.2.4.2Manual

29

3.4 Post-Processing Analysis with RTKPOST



RTKLIBcontainsapostprocessinganalysisAPRTKPOST.RTKPOSTinputsthestandardRINEX2.10,2.11,

2.12,3.00,3.01,3.02(draft)observationdataandnavigationmessagefiles(GPS,GLONASS,Galileo,QZSS,

BeiDouandSBAS)andcancomputesthepositioningsolutionsbyvariouspositioningmodesincluding

Single‐point,DGPS/DGNSS,Kinematic,Static,PPP‐KinematicandPPP‐Static.



(1) ExecutethebinaryAPfile<install dir>\rtklib_<ver>\bin\rtkpost.exe.Youcanseethe

mainwindowofRTKPOST.YoucanexecutethebinaryAPfile<install

dir>\rtklib_<ver>\bin\rtkpost_mkl.exe

instead,whichisaversionofRTKPOSTlinkingthe

IntelMKLlibraryforfastmatrixcomputation.



Figure3.4‐1MainWindowofRTKPOST



(2) InputtheRINEXobservationdatafilepathoftheroverreceiverinthetextfieldʺRINEXOBS(:Rover)ʺ.

Fillinthefilepathorselectafileusingthefileselectiondialogshownbypushing...button.Youcan

usethecompressedfilebyGZIP[57](.gz),COMPRESS(.z)orHatanaka‐Compression[58](.yyd)for

theRINEXobservationdata.Ifthecompressionfileornotisrecognizedbythefileextension.Ifa

wild‐card(*)isincludedinthefilepath,thewild‐cardisexpandedandthemultiplefilesareread.



(3) IfyouprocessRINEXdataintherelativepositioningmodesas:DGPS/DGNSS,Kinematic,Static,

Moving‐BaseorFixed,youhavetoinputthesecondfilepathofthebase‐stationreceiverintheʺRINEX

OBS:BaseStationʺfieldinadditiontotheroverobservationdatafile.

RTKLIBver.2.4.2Manual

30



(4) YoualsohavetoinputthepathofRINEXnavigationmessagefilesofGPS,GLONASS,Galileo,QZSS

andSBASintheʺRINEX*NAV/CLK,SP3,IONEXorSBS/EMSʺ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and.yyP (.yyO)isusedforthenavigationmessagefilesofGPS,

GLONASS,Galileo,QZSS,BeiDouandSBAS.Ifawild‐card(*)isincludedinthefilepath,the

wild‐cardisexpandedandthemultiplefilesareusedlikeobservationdatafiles.Touseprecise

ephemerisandclockforPPP‐Kinematic,PPP‐StaticorPPP‐Fixedmode,youcaninputaSP3‐c(for

precisesatelliteephemerisandclock)orRINEXCLK(forprecisesatelliteclock)filepathinthefield.

YoucaninputanIONEX1.0filepathforionosphericVTECgridcorrections.ForSBAScorrections,you

caninputaSBASmessagelogfilepathasRTKLIBformatorEMS(EGNOSmessageserver)2.0format

file.Youcanalsoincludewild‐cards(*)inthesefilepaths.Thewild‐cardsareexpandedandmultiple

filesareused.YoucaninputSSR(statespacerepresentation)correctionsasRTCM3messagesina

inputfilefield.Theformatsoftheseinputfilesarerecognizedbytheirextensionsasfollows:



(a).sp3,.SP3,.eph,.EPH:SP3‐cpreciseephemerisfile[22]

(b).sbs,.SBS,.ems,.EMS:SBASmessagelogfile(AppendixB.2and[26])

(c).rtcm3,.RTCM3 :RTCM3SSRcorrectionmessagefile[18]

(d).*i,.*I  :IONEXVTECgriddatafile[24]

(e)others  :RINEXOBS,NAVorCLK(automaticallyrecognized)[9]‐[15]



(5) InputtheoutputfilepathinthetextfieldʺSolutionʺ.Thefieldisautomaticallysetasthefirstinputfile

pathwiththeextensionreplacedby.posor.nmea.IfyoucheckʺDirʺandfillinthefield,theoutput

directoryissettothespecifieddirectory.Youcanmodifytheoutputfilepathmanuallybyeditingthe

fieldcontent.



(6) PushOptions...buttontosettheprocessingoptions.ForthedetailedoptionsforRTKPOST,refer3.5

ConfigurePositioningOptionsforRTKNAVIandRTKPOST.Youcansetthestarttimeorendtimeby

checkingandsettingTimeStart(GPST)orTimeEnd(GPST)fieldinthemainwindow.Youalsosetthe

timeintervalbycheckingandsettingtheʺIntervalʺfield.Withthe?button,theinputtimeinGPStime

canbeconvertedtoUTC,GPSWeek/TOW,DayofYear,DayofWeek,TimeofDayandLeapSeconds.



RTKLIBver.2.4.2Manual

31



Figure3.4‐2TimeDialogofRTKPOST



(7) IfyoucheckbothoftheʺTimeStartʺandʺTimeEndʺfields,youcancheckʺUnitʺformultiplesession

analysis.IftheʺUnitʺfieldcheckedandsettheʺUnitʺtimeinhours,theanalysissessionisseparatedto

multiplesessionsfortheunittime.Toavoidoverwritingthepreviousoutputfile,theoutputfilepath

hastocontainthekeywordreplacedaccordingtothesessiontime.Forthedetailsofthekeyword

replacementintheinputoroutputfilepaths,refer3.5ConfigurePositioningOptionsforRTKNAVI

andRTKPOST.



(8) PushExecutebuttontostarttheanalysis.Theprocessingstatusisshowninthestatusmessagefield

lowercenterinthemainwindow.Whenyouseeʺdoneʺmessagehere,theanalysisiscompleted.Ifyou

wanttostoptheprocessingontheway,pushAbortbutton.



(9) Aftercompletingtheanalysis,bypushingView...button,youcandisplaythecontentoftheoutput

filebyʺTextViewerʺ.Youcanreloadtheoutputfilebypushing buttonintheʺTextViewerʺ

window.Toclosethewindow,pushClosebutton.YoucanconfigureʺTextViewerʺ optionsby

pushingOptions...button.YoucanalsosearchstringsinthetextbyusingFindbutton.



RTKLIBver.2.4.2Manual

32



Figure3.4‐3TextViewershowingSolutionsbyRTKPOST



(10) BypushingPlot...button,youcanalsoplottheresultwithRTKPLOT.Refer3.7ViewandPlot

SolutionsandObservationDatawithRTKPLOTfordetails.



Figure3.4‐4RTKPLOTWindowexecutedbyRTKPOST

RTKLIBver.2.4.2Manual

33



(11) BypushingToKML...button,theoutputfilecanbeconvertedtoGoogleEarthKMLfilewiththe

ʺGoogleEarthConverterʺdialog.SetorselecttheoptionsandpushConvertbuttoninthedialog.You

canlaunchGoogleEarthwiththegeneratedKML/KMZfilebypushingGoogleEarthbutton.To

specifytheGoogleEarthexecutionfile,configureʺOptionsʺ‐ʺFilesʺ‐ʺGoogleEarthExeFileʺ.



Figure3.4‐5GoogleEarthConverterDialogofRTKPOST



(12) With buttoninthemainwindow,youcanviewandplottheinputobservationdataRTKPLOT.

YoucanalsodisplaythecontentsoftheinputfileswithTextViewerbypushingbutton.



(13) Incaseofoutputsolutionstatisticsordebugtraceastheprocessingoptions,pushbuttonslower

leftofthewindowtoviewthesolutionstatisticsfileorthedebugtracefile.Tocheckprocessingerroror

warningincaseofimproperresults,setDebugTraceinʺOptionsʺ‐ʺOutputʺdialogtoʺLevel2ʺ(trace

ERRORandWARNIN G) andseetheoutputdebugtracefile.



RTKLIBver.2.4.2Manual

34

3.5 Configure Positioning Options for RTKNAVI and RTKPOST



BypushingOptions...buttoninthemainwindowsofRTKNAVIorRTKPOST,youcansetthepositioning

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

configurationfile,referB.4.Thekeywordswhichcanbeincludedtheconfigurationfilearealsoshownin

thefollowingtables.ThemodelsspecifiedintheseoptionsarealsoexplainedinAppendixEfordetails.



(1) Setting1



Figure3.5‐1OptionsDialog(Setting1)ofRTKNAVIandRTKPOST



ItemDescriptionsConfiguration

FileNotes

Positioning

Mode

Setpositioningmode

‐Single:SinglepointpositioningorSBASDGPS

‐DGPS/DGNSS:Code‐baseddifferentialGPS

‐Static:Carrier‐basedStaticpositioning

‐Kinematic:Carrier‐basedKinematicpositioning

‐Moving‐Base:Movingbaseline

‐Fixed:Roverreceiverpositionisfixed*

‐PPPKinematic:PrecisePointPositioningwith

kinematicmode

‐PPPStatic:PrecisePointPositioningwithstaticmode

‐PPPFixed:RoverreceiverpositionisfixedwithPPP

mode*

pos1

posmode

*

Forresiduals

analysis

RTKLIBver.2.4.2Manual

35

ItemDescriptionsConfiguration

FileNotes

FrequenciesSetusedcarrierfrequencies

‐L1:L1Singlefrequency

‐L1+2:L1andL2Dual‐frequency

‐L1+2+5:L1,L2andL5Triple‐frequency

pos1

frequency N/AtoSingle,

PPP‐*modes

FilterTypeSetfiltertype

‐Forward:Forwardfiltersolution

‐Backward:Backwardfiltersolution*

‐Combined:Smoothercombinedsolutionwith

forwardandbackwardfiltersolutions*

pos1

soltype *

N/Ato

RTKNAVIand

Singlemode

Elevation

Mask

Setelevationmaskangleindegree.



pos1

elmask



SNRMaskSetSNRmask.Push...buttontoshowtheʺSNRMaskʺ

dialog.SetSNRthresholdstorejectsatellitesignalsfor

each5degelevationbinsinthedialog.Ifbothof

ʺRoverʺandʺBaseStationʺareunchecked,theseSNR

masksarenotapplied.

pos1

snrmask_r,

snrmask_b,

snrmask_L1,

snrmask_L2,

snrmask_L5



RecDynamicsSetthedynamicsmodeloftheroverreceiver.

‐OFF:Dynamicsisnotused

‐ON:Receivervelocityandaccelerationare

estimated.

Thereceiverpositionispredictedwiththeestimated

velocityandacceleration.

pos1

dynamics Only

applicableto

DGPS/DGNSS

orKinematic

modes

EarthTides

Correction

Setwhetherearthtidescorrectionisappliedornot

‐OFF:Notapplyearthtidescorrection

‐Solid:Applysolidearthtidescorrection

‐Solid/OTL:Applysolidearthtides,OTL(oceantide

loading)andpoletidecorrections.*



ToapplyOTLcorrection,settheOTLcoefficientsfile

pathinʺOceanLoadingBLQFormatʺintheʺFilesʺtab

andthemarkernamehavetobeincludeintheinput

RINEXfiletoselectthestationinBLQfile.

Toapplypoletide,setERP(earthrotationparameter)

filepathinʺEOPDataFileʺintheʺFilesʺtab.

pos1

tidecorr N/AtoSingle

mode

*

N/Ato

RTKNAVI

RTKLIBver.2.4.2Manual

36

ItemDescriptionsConfiguration

FileNotes

Ionosphere

Correction

Setionosphericcorrectionoptions.Ifyousetthe

parameterEstimated.Verticalionosphericdelayfor

eachsatellite)areestimated.Forlongbaseline

analysis,ionosphereestimationiseffectiveto

suppressionospheredelayeffects.

‐OFF:Notapplyionosphericcorrection

‐Broadcast:Applybroadcastionosphericmodel

‐SBAS:ApplySBASionosphericmodel

‐Iono‐FreeLC:Ionosphere‐freelinearcombination

withdualfrequency(L1‐L2forGPS/GLONASS/

QZSSorL1‐L5forGalileo)measurementsisusedfor

ionosphericcorrection

‐EstimateSTEC:Estimateionosphericparameter

STEC(slanttotalelectroncontent)*

‐IONEXTEC:UseIONEXTECgriddata

‐QZSSBroadcast:Applybroadcastionospheremodel

providedbyQZSS

‐QZSSLEX:(reserved)

pos1

ionoopt *

N/AtoSingle,

PPP‐*modes

Troposphere

Correction

Setwhethertroposphericparameters(zenithtotal

delay

atroverandbase‐stationpositions)areestimatedor

not.

‐OFF:Notapplytropospherecorrection

‐Saastamoinen:ApplySaastamoinenmodel

‐SBAS:ApplySBAStroposphericmodel(MOPS)

‐EstimateZTD:EstimateZTD(zenithtotaldelay)

parametersasEKFstates*

‐EstimateZTD+Grad:EstimateZTDandhorizontal

gradientparametersasEKFstates*

pos1

tropopt *N/AtoSingle

mode.

Satellite

Ephemeris/

Clock

Setthetypeofsatelliteephemeris.

‐Broadcast:Usebroadcastephemeris

‐Precise:Usepreciseephemeris*

‐Broadcast+SBAS:BroadcastephemeriswithSBAS

long‐termandfastcorrection

‐Broadcast+SSRAPC:Broadcastephemeriswith

RTCM

SSRcorrection(antennaphasecentervalue)

‐Broadcast+SSRCoM:Broadcastephemeriswith

RTCM

SSRcorrection(satellitecenterofmassvalue)

‐QZSSLEX:(reserved)

pos1

sateph



SatPCVSetwhetherthesatelliteantennaPCV(phasecenter

variation)modelisusedornot.Tousethefeature,set

ʺSatelliteAntennaPCVFileʺinʺFilesʺtab.

pos1

posopt1 N/AtoSingle

mode

RecPCVSetwhetherthereceiverantennaPCVmodelisused

ornot.Tousethefeature,setʺReceiverAntennaPCV

FileʺinʺFilesʺtab.

pos1

posopt2 N/AtoSingle

mode

PhWindupSetwhetherthephasewindupcorrectionforPPP

modesisappliedornot.

pos1

posopt3 Only

applicableto

PPP‐*modes.

RTKLIBver.2.4.2Manual

37

ItemDescriptionsConfiguration

FileNotes

RejectEclSetwhethertheGPSBlockIIAsatellitesineclipseare

excludedornot.TheeclipsingBlockIIAsatellites

oftendegradethePPPsolutionsduetounpredicted

behaviorofyaw‐attitude.

pos1

posopt4 Only

applicableto

PPP‐*modes.

RAIMFDESetwhetherRAIM(receiverautonomousintegrity

monitoring)FDE(faultdetectionandexclusion)

featureisenabledornot.IncaseofRAIMFDE

enabled,asatelliteisexcludedifSSE(sumofsquared

errors)ofresidualsisoverathreshold.Theexcluded

satelliteisselectedtoindicatetheminimumSSE.

pos1

posopt5



Excluded

Satellites

(+PRN:

Included)

Settheexcludedsatellitesforpositioning.Fillinthe

PRNnumbersofthesatellitesseparatedbyspaces.

ForGLONASS,Galileo,QZSS,BeiDouandSBAS,use

Rnn,Enn,Jnn,CnnandSnn,respectively(nn:satellite

PRNorslotnumber).

Ifʺ+ʺisaddedtotheheadofthesatelliteID,the

satelliteisincludedforpositioningevenifthesatellite

isunhealthy.

pos1

exclsats



Navigation

System

Checkusednavigationsatellitesystems.Ifunchecked,

satellitesofthesystemarenotusedforpositioning.

‐GPS

‐GLONASS

‐Galileo

‐QZSS

‐SBAS

‐BeiDou

pos1

navsys



Figure3.5‐2SNRMaskDialogofRTKNAVIandRTKPOSTOptions



(2) Setting2



RTKLIBver.2.4.2Manual

38



Figure3.5‐2OptionsDialog(Setting2)ofRTKNAVIandRTKPOST



ItemDescriptionsConfiguration

FileNotes

Integer

Ambiguity

Resolution

(GPS)

Setthestrategyofintegerambiguityresolutionfor

GPS

‐OFF:Noambiguityresolution

‐Continuous:Continuouslystaticintegerambiguities

areestimatedandresolved*

‐Instantaneous:Integerambiguityisestimatedand

resolvedbyepoch‐by‐epochbasis*

‐FixandHold:Continuouslystaticinteger

ambiguitiesareestimatedandresolved.Ifthe

validationOK,theambiguitiesaretightly

constrainedtotheresolvedvalues.*

‐PPP‐AR:AmbiguityresolutioninPPP

(Experimental)**

pos2

armode Default:

ContinuousNot

applicableto

Singlemode.

*Only

applicableto

Kinematic,

Static,Moving‐

baselineand

Fixedmodes.

**Only

applicable

toPPP‐*modes

andRTKPOST

Integer

Ambiguity

Resolution

(GLO)

SetthestrategyofGLONASSintegerambiguity

resolution

‐OFF:Ambiguitiesarenotfixed.

‐ON:Ambiguitiesarefixed.Usuallytheambiguityof

onlythesametypesreceiverpairfortheroverand

thebasestationcanbefixed.Thedifferentreceiver

typeshaveIFB(inter‐frequencybias)whichcannot

becanceledbyDD.

‐Autocalibration:Receiverinter‐channelbiasterms

areestimatedasalinearequationbythefrequencies.

pos2

gloarmode Default:

ON

Onlyapplicable

toKinematic,

Static,Moving‐

baselineand

Fixedmodes.

MinRatioto

Fix

Ambiguity

Settheintegerambiguityvalidationthresholdfor

ʺratio‐testʺ,whichusestheratioofsquaredresiduals

ofthebestintegervectortothesecond‐bestvector.

pos2

arthres Defaultvalue:

3.0

Min

Confidenceto

FixAmb.

Setminimumconfidenceleveltofixambiguityin

PPP‐ARmode



MaxFCBto

FixAmb.

SetmaximumFCB(fractionalcyclebias)tofix

ambiguityinPPP‐ARmode



RTKLIBver.2.4.2Manual

39

ItemDescriptionsConfiguration

FileNotes

MinLock/

Elevationto

Fix

Ambiguity

Settheminimumlockcountandtheminimum

elevationangle(deg)tofixintegerambiguity.Ifthe

lockcountortheelevationangleislessthanthevalue,

theambiguityisexcludedfromthefixedinteger

vector.

pos2

arlockcnt,

arelmask

Defaultvalue:

0,0

MinFix/

Elevationto

Hold

Ambiguity

IfyouselectʺFixandHoldʺmodeforInteger

AmbiguityResolution,settheminimumfixcountand

theminimumelevationangle(deg)toholdambiguity.

pos2

arminfix,

elmaskhold

Defaultvalue:

10,0

Outageto

Reset

Ambiguity/

SlipThres

Settheoutagecounttoresetambiguity.Ifthedata

outagecountisoverthevalue,theestimated

ambiguityisresettotheinitialvalue.Andsetthe

cycle‐slipthreshold(m)ofgeometry‐freeLC

carrier‐phasedifferencebetweenepochs.

pos2

aroutcnt,

pos2-

slipthres

Defaultvalue:

5,0.05

MaxAgeof

Differential

Setthemaximumvalueofageofdifferential(s)

betweentheroverandthebasestation.

pos2

maxage Defaultvalue:

30

SyncSolutionSettimesynchronizationmodeofsolutions:

‐OFF:Minimumlatencymode.Thesolutionisoutput

soonafterroverdatainput.Thedelayedbasestation

orcorrectiondataareextrapolatedtotherovertime.

‐ON:Matchedsolutionmode.Thesolutionisoutput

afterbothroverdataandbasestationorcorrection

dataprepared.Thesolutiontimemaybebehindthe

rovertimewithacertaindelay.

Thisfeatureisnotimplementedinver.2.4.2.

pos2

syncsol N/Ato

RTKPOSTand

Singlemode

Defaultvalue:

OFF

Reject

Threshold

ofGDOP/

Innov.

SettherejectthresholdofGDOPandinnovation

(pre‐fitresidual)(m).IftheGDOPortheinnovationis

overthevalue,theobservableisexcludedforthe

estimationprocessasanoutlier.

pos2

rejgdop,

rejionno

Defaultvalue:

30,30

Numberof

Iteration

Setthenumberofiterationinthemeasurement

updateoftheestimationfilter.Ifthebaselinelengthis

veryshortlike1m,theiterationmaybeeffectiveto

handlethenonlinearityofmeasurementequation.

pos2

niter Defaultvalue:1

Baseline

Length

Constraint

IfMoving‐Basemode,checkandsettheconstraintof

thebaselinelength.Fillinthelengthinmandthe

standarddeviation(m)oftheconstraint.

pos2

baselen,

basesig





RTKLIBver.2.4.2Manual

40

(3) Output



Figure3.5‐3OptionsDialog(Output)ofRTKNAVIandRTKPOST



ItemDescriptionsConfiguration

FileNotes

Solution

Format

Settheoutputsolutionformat.

‐Lat/Lon/Height:Latitude,longitudeandheight

‐X/Y/Z‐ECEF:X/Y/ZcomponentsofECEF

coordinates

‐E/N/U‐Baseline:E/N/Ucomponentsofbaseline

vector

‐NMEA0183:NMEAGPRMC,GPGGA,GPGSA,

GLGSA,GAGSA,GPGSV,GLGSVandGAGSV

solformat ForRTKNAVI,

specifyoptions

asOutput

Streams

setting.

Output

Header

Setwhethertheheaderisoutputornot.

outhead N/AtoNMEA

Output

Processing

Options

Setwhethertheprocessingoptionsareoutputornot.

outopt RTKPOSTonly

N/AtoNMEA

TimeFormatSettheformatoftime

‐ssssssss.sssGPST:GPSweekandtimeofweek

‐hh:mm:ssGPST:yyyy/mm/ddhh:mm:ssGPST

‐hh:mm:ssUTC:yyyy/mm/ddhh:mm:ssUTC

‐hh:mm:ssJST:yyyy/mm/ddhh:mm:ssJST

timesys,

timeform

N/AtoNMEA

#ofDecimalsSetnumberofdecimalsinthetimeformat

timendec N/AtoNMEA

Latitude/

Longitude

Format

Settheformatsoflatitudeandlongitudeifthe

solutionformatissettoLat/Lon/Height.

‐ddd.dddddddd:Degree

‐dddmmss.sss:Degreeminutesecond

degform N/AtoNMEA

Field

Separator

Settheseparatorforfields.

fieldsep N/AtoNMEA

RTKLIBver.2.4.2Manual

41

ItemDescriptionsConfiguration

FileNotes

DatumSetthedatumifthesolutionformatoptionissetto

Lat/Lon/Height.

‐WGS84:WGS84datum

‐Tokyo:Tokyodatum

(currentversionsupportsonlyWGS84)



HeightSetthetypeofheight.

‐Ellipsoidal:Ellipsoidalheight

‐Geodetic:Geodeticheight

eight 

GeoidModelSetthegeoidmodeliftheHeightoptionissetto

Geodetic.

‐Internal:Internalgeoidmodel

‐EGM96‐BE(15ʺ):EGM96(15ʺx15ʺgrid)*1

‐EGM2008‐SE(2.5ʺ):EGM2008(2.5x2.5ʺgrid)*2

‐EGM2008‐SE(1ʺ):EGM2008(1x1ʺgrid)*2

‐GSI2000(1x1.5ʺ):GSI2000(1x1.5ʺgrid)*3

Ifusingexternalgeoidmodel,specifythegeoidfile

pathinʺFilesʺtab.

eoi



Solutionfor

Static

Mode

SetthesolutiontypeforStaticorPPP‐Staticmode

‐All:allsolutionsfortheprocessingperiodare

outputted

‐Single:Onlyonesolutionfortheprocessingperiodis

output.Thetimeofsolutionisfirstepochinthe

processingperiod.

solstatic RTKPOSTonly

NMEA

Interval(s)

RMC/GGA

SettheoutputintervalofNMEAGPRMC,GPGGA

messages

nmeaintv1 RTKNAVIonly

NMEA

Interval(s)

GSA/GSV

SettheoutputintervalofNMEAGPGSA,GLGSA,

GAGSA,GPGSV,GLGSV,GAGSVmessages

nmeaintv2 RTKNAVIonly

Output

Solution

Status

Settheoutputlevelofthesolutionstatusfile.The

solutionstatusfilecontainsestimatedstatesand

residuals.Thesolutionstatusfileiscreatedinthe

currentdirectory(RTKNAVI)orintheoutputfile

directory(RTKPOST).

outstat



Output

DebugTrace

Settheoutputlevelofdebugtracefile.IfsettingOFF,

anydebugtracefileisnotoutput.Thedebugtracefile

iscreatedinthecurrentdirectory(RTKNAVI)orin

theoutputfiledirectory(RTKPOST).



*1WW15MGH.DAC(http://earth‐info.nga.mil/GandG/wgs84/gravitymod/egm96/binary/binarygeoid.html)

*2Und_min1x1_egm2008_isw=82_WGS84_TideFree_SE,

Und_min2.5x2.5_egm2008_isw=82_WGS84_TideFree_SE

(http://earth‐info.nga.mil/GandG/wgs84/gravitymod/egm2008/egm08_wgs84.html)

*3gsigeome.ver4(http://vldb.gsi.go.jp/sokuchi/geoid/download/down.html)





RTKLIBver.2.4.2Manual

42

(4) Statistics



Figure3.5‐4OptionsDialog(Statistics)ofRTKNAVIandRTKPOST



ItemDescriptionsConfiguration

FileNotes

Measurement

Errors

 

Code/Carrier‐

PhaseError

RateL1/L2

Settheratioofstandarddeviationsofpseudorange

errorstocarrier‐phaseerrorsforL1andL2/L5/L6.

tats

eratio1,

eratio2

Defaultvalue:

100,

100

Carrier‐Phase

Error

Setthebasetermofcarrier‐phaseerrorstandard

deviation(m).

tats

errphase Defaultvalue:

0.003

Carrier‐Phase

Error/sinEl

Settheelevationdependenttermofcarrier‐phase

errorstandarddeviation(m/sin(el)).

tats

errphaseel Defaultvalue:

0.003

Carrier‐Phase

Error/Baseline

Setthebaseline‐lengthdependenttermof

carrier‐phaseerrorstandarddeviation(m/10km).

tats

errphasebl Defaultvalue:0

Doppler

Frequency

SetthestandarddeviationofDopplererrors(Hz)

(Currentversiondoesnotusethevalue)

tats

errdoppler Defaultvalue:1

Process

Noises

 

Receiver

Accel

Horiz/Vertical

Settheprocessnoisestandarddeviationofthe

receiveraccelerationasthehorizontalorvertical

component.(m/s2/sqrt(s)).IfReceiverDynamicsisset

toOFF,theyarenotused.

tats

prnaccelh,

prnaccelv

Defaultvalue:

1and0.1

Carrier‐Phase

Bias

Settheprocessnoisestandarddeviationof

carrier‐phase

bias(ambiguity)(cycle/sqrt(s)).

tats

prnbias Defaultvalue:

1E‐4

Vertical

Ionospheric

Delay

Settheprocessnoisestandarddeviationofvertical

ionosphericdelayper10kmbaseline(m/sqrt(s)).

tats

prniono Defaultvalue:

1E‐3

Zenith

Tropospheric

Delay

Settheprocessnoisestandarddeviationofzenith

troposphericdelay(m/sqrt(s)).

tats

prntrop Defaultvalue:

1E‐4

RTKLIBver.2.4.2Manual

43

ItemDescriptionsConfiguration

FileNotes

SatelliteClock

Stability

Setthesatelliteclockstability(s/s).Thevalueisused

forinterpolationofbase‐stationobservables.

tats

clkstab Defaultvalue:

5E‐12



(5) Positions



Figure3.5‐5OptionsDialog(Positions)ofRTKNAVIandRTKPOST



ItemDescriptionsConfiguration

FileNotes

Rover





Lat/Lon/

Height

(deg/m)

Setthepositionoftheroverantennaiftherover

antennaisfixed.SeethesamefieldforBaseStation.

nt1

postype,

pos1, pos2,

pos3



AntennaTypeSelectthetypeoftheroverantenna.

Toselecttheantennatype,settheReceiverAntenna

PCVFilepathinFiles.Ifʺ*ʺisused,antennatypeand

antennadeltaarerecognizedbytheantenna

informationofRINEXOBSheader(RTKPOST)or

RTCMantennainformation(RTKNAVI).

nt1

anttype



Delta‐E/N/USetthedeltapositionoftheroverantennaasthe

E/N/UoffsetsofARP(antennareferencepoint)

positionwithrefertothemarker(m).

nt1

antdele,

antdeln,

antdelu



BaseStation



 

RTKLIBver.2.4.2Manual

44

ItemDescriptionsConfiguration

FileNotes

Lat/Lon/Heig

ht(deg/m)

Setthepositionofthebase‐stationantenna.

‐Lat/Lon/Height(deg/m):Latitude/longitude/height

indegreeandm

‐Lat/Lon/Height(dms/m):Latitude/longitude/height

indegree/minute/secondandm

‐X/Y/Z‐ECEF(m):X/Y/ZcomponentsinECEFframe.

‐RTCMStationPosition:Usetheantennaposition

includedinRTCMmessages*

‐AverageofSingle‐Pos:Usetheaverageofsingle

pointsolutions**

‐GetfromPositionFile:Usethepositioninthe

positionfile.Thestationissearchedbyusingthe

head4‐characterIDoftheroverobservationdatafile

path.**

‐RINEXHeaderPosition:Usetheapproximate

positioninRINEXOBSheader.**

nt2

postype,

pos1, pos2,

pos3

Heightis

specifiedas

ellipsoidal

height

*RTKNAVIonly

**RTKPOST

only

AntennaTypeSelectthetypeofthebase‐stationantenna.

Toselecttheantennatype,setReceiverAntennaPCV

FileinFiles.Ifʺ*ʺisused,antennatypeandantenna

deltaarerecognizedbytheantennainformationof

RINEXOBSheader(RTKPOST)orRTCMantenna

information(RTKNAVI).

nt2

anttype



Delta‐E/N/USetthedeltapositionofthebase‐stationantennaas

E/N/UoffsetsofARPpositionwithrefertothemarker

(m).

nt2

antdele,

antdeln,

antdelu



Station

PositionFile

Inputthestationpositionfilepathtoretrievethe

positionfromthestationlist.Thestationpositionfile

isatextfilewhichcontainsthemultiplelines.Each

linerepresentsarecordforastation.Arecord

contains:

- Latitude (deg)

- Longitude (deg)

- Ellipsoidal height (m)

- Station ID

- Station name

separatedbyspaces.Thelinestartingʺ%ʺistreatedas

thecommentline.Anexamplestationpositionfileis

foundatrtklib_<ver>\data\stations.pos.



SINEXstationpositionscanbeusedaswell.An

sampleSINEXfileisfoundat

rtklib_<ver>\data\igs10P1565_wocov.snx



ile

staposfile



IfyousetStationPositionFileinʺFilesʺ tab,youcanselectthepotionoftheroverorthebase‐station

antennafromthestationlistinʺStationsʺdialogbypushing...button.YoucanloadLat/Lon/Hgtformator

SINEXformatfile.Thefiletypeisautomaticallyrecognized.YoucansearchastationIdorNamewith

FindbuttonwithaspecifiedwordintheFindfield.



RTKLIBver.2.4.2Manual

45



Figure3.5‐6PositionsDialogofRTKNAVIandRTKPOSTOptions



(6) Files



Figure3.5‐7OptionsDialog(Files)ofRTKNAVIandRTKPOST



RTKLIBver.2.4.2Manual

46

ItemDescriptionsConfiguration

FileNotes

Satellite

Antenna

PCVFile

ANTEX

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uselatestigs08.atx file

providedbyIGS.

AnexampleoftheANTEXfileisfoundat

rtklib_<ver>\data\igs08.atx.

ile

satantfile



Receiver

Antenna

PCVFile

ANTEXor

NGSPCV

Ifyouapplythereceiverantennaphasecenteroffset

andPCVcorrection,inputANTEXorNGStype

antennaparametersfilepath.

Anexampleoftheantennaparameterfileisfoundat

rtklib_<ver>\data\igs08.atx.

or

rtklib_<ver>\data\ngs_abs.pcv.

ile

rcvantfile



GeoidData

File

Inputthefilepathofthegeoiddatafileifselectingthe

externalmodelasGeoidModel.

ile

geoidfile



DCBDataFileInputthefilepathofDCBcorrectionforPPPinCODE

format.

Anexampleoftheantennaparameterfileisfoundat:

rtklib_<ver>\data\P1C1_ALL.DCB

rtklib_<ver>\data\P2C2.DCB

rtklib_<ver>\data\P1P2_ALL.DCB

ile

dcbfile



EOPDataFileInputthefilepathofanEOPdatafile.Theformatof

theEOPdatafileshallbeIGSERPformatversion.2

[62].

ile

eopfile



Ocean

LoadingBLQ

Format

InputthefilepathofanOTLcoefficientsfile.The

formatoftheOTLcoefficientsfileisBLQformat.[63]

ile

blqfile



GoogleEarth

ExeFile

InputtheexecutionfilepathofGoogleEarth.

RTKPOSTonly

FTP/HTTP

Local

Directory

InputthelocaldirectoryforFTP/HTTPdownload.

Thedownloadedfilesaresaveinthedirectory.

ile

tempdir RTKNAVIonly





RTKLIBver.2.4.2Manual

47

(7) Misc(RTKNAVI)



Figure3.5‐8OptionsDialog(Misc)ofRTKNAVI



ItemDescriptionsConfiguration

FileNotes

Processing

Cycle/Buffer

Size

Settheprocessingcycletimeofinms.Usuallyset100

msorlessvalue.

Settheinputmessagebuffersizeinbytes.Usuallyset

itto32768ormore.

misc

svrcycle



Timeout/

Re‐Connect

Interval

Setthetimeoutandre‐connectintervalforTCPclient

andNTRIPclientconnectionsinms.Ifthetimeout

timeexpiredwithoutseverresponse,RTKNAVI

retriestoconnecttoserverafterwaitingforthe

re‐connectinterval.

misc

timeout,

reconnect



NMEACycle/

FileSwap

Margin

SettheNMEAGPGGAtransmissioncycletoNRTK

serverinms.

Ifoutputorlogfileswapenabled,settheoverlapped

periodsbetweenthepreviousandthenewoutput

filesinsecond.Ifyousetitto0,theperiodsofthese

filesarenotoverlapped.Thisfeatureistoavoidthe

missingoftransientdatabytheoutputfileswapping.

misc

nmeacycle



Solution

Buffer/Log

Size

Settheinternalsolutionbuffersizeandlogsizein

epochs.Toincreasethelengthofthereceiver

trajectoryonʺRTKMapʺ,increasethesolutionbuffer

size.

misc

buffsize



Navigation

Message

Selection

Selectnavigationmessagestobeused.

‐(1)All:Inanyoftheinputstreams

‐(2)Rover:Intheroverreceiverstream

‐(3)BaseStation:Inthebasestationreceiverstream

‐(4)Correction:Inthecorrectionstream

misc

navmsgsel



SBASSatellite

Selection

IfSBASDGPScorrectionenabled,inputSBASsatellite

PRNnumbertobeused.Ifyouinput0,allavailable

SBASsatellitesareused.



misc

sbasatsel Default:52001

RTKLIBver.2.4.2Manual

48

ItemDescriptionsConfiguration

FileNotes

MonitorPortSetmonitorportnumber.ThemonitorportisTCP

serverporttoconnectfromoutsideorbyRTKPLOT

forreal‐timesolutionmonitor.Ifmultipleinstancesof

RTKNAVIaregenerated,thefollowingnumbersare

usedautomatically.If0isset,themonitorportisnot

used.



HTTP/NTRIP

Proxy

SetHTTP/NTRIPproxyserveraddressandport

numberas <address>:<port> formtoconnectthe

NTRIPCasterviaaHTTP‐Proxyserver.

misc

proxyaddr



SolutionFontSelectthefontofthesolutiondisplayinthemain

window.



TLEDataSpecifyNORADTLE(twolineelement)satelliteorbit

elementdatafile.TLEdataareusedtocompute

satellitepositionsforskyplotifthesatelliteephemeris

isunavailable.Bothoftwolineformatorthreeline

formatofTLEdatacanbeused.AsampleTLEdata

canbefoundat:

rtklib_<ver>/data/

catalbe_2l_2013_01_09_pm.txt.

*1

SatNoSpecifythesatellitenumberfilewhichistoconnect

GNSSsatellite/PRNnumbersandTLEsatellitecatalog

numbersinNORADTLEdatafile.Asamplesatellite

numberfilecanbefoundat

rtklib_<ver>/data/TLE_GNSS_SATNO.txt.



*1ToobtainthelatestTLEdatafile,referthefollowingURLs:

(a)CelesTrack:http://celestrak.com

(b)SpaceTrack:http://www.space‐track.org



(8) Misc(RTKPOST)



Figure3.5‐9OptionsDialog(Misc)ofRTKPOST



RTKLIBver.2.4.2Manual

49

ItemDescriptionsConfiguration

FileNotes

Time

Interpolation

ofBase

Station

Observation

Data

SelectONtoenabletimeinterpolationofbasestation

data.IfselectingON,thebasestationdataarelinearly

interpolatedtotheroverepochandDD(double‐

difference)ismadewiththem.Ifnotchecked,nearest

epochofbasestationdataisusedforDD.

misc

timeinterp



SBASSatellite

Selection

IfSBASDGPScorrectionenabled,inputSBASsatellite

PRNnumbertobeused.Ifyouinput0,allavailable

SBASsatellitesareused.

misc

sbasatsel



RINEXOpt

(Rover)

SpecifyRINEXreadoptionsforroverRINEX

observationdataasfollows.Multipleoptionscanbe

inputseparatedbyspaces.



-GLss[=+n.nn]: select GPS signal ss

-RLss[=+n.nn]: select GLO signal ss

-ELss[=+n.nn]: select GAL signal ss

-JLss[=+n.nn]: select QZS signal ss

-CLss[=+n.nn]: select BDS signal ss

-SLss[=+n.nn]: select SBS signal ss



ss : signal id (refer Appendix D.3)

=+n.nn: phase shift +n.nn (cycle) to be

add to carrier-phase observables



Withouttheoptionandmultiplesignalsina

frequency,RTKLIBselectasignalforafrequency

accordingtothedefaultprioritiesofsignals.Refer

AppendixD.4DefaultPrioritiesofMultipleSignals.

misc

rnxopt1



RINEXOpt

(Base)

SpecifyRINEXreadoptionsforbase‐stationRINEX

observationdatasameastheRINEXOpt(Rover).

misc

rnxopt2



StationIDListForbatchprocessingwithmultipleinputfilesor

multiplesessions,youcansetinputfilepathsor

outputfilepathcontainingthefollowingkeywords:

%Y, %y, %m, %d, %n, %W, %D, %h, %H, %r, %b



Thekeywordsarereplacedbythepropervaluesor

expandedformultiplesessionanalysis.

Toenabletimekeywords,setTimeStart,TimeEnd

andUnit(optional)inthemainwindow.For

keywords%r,%b,inputRoverListorBaseStation

Listbelow.

Foronlinereference,pushʺ?ʺbutton.



RoversInputtheroverIDlisttoreplacekeyword%rininput

andoutputfilepaths.Thelinestartingwithʺ#ʺis

treatedasacomment.



BaseStationsInputthebasestationIDlisttoreplacekeyword%bin

inputandoutputfilepaths.Thelinestartingwithʺ#ʺ

istreatedasacomment.



RTKLIBver.2.4.2Manual

50

3.6 Convert Receiver Raw Data to RINEX with RTKCONV



RINEX(ReceiverIndependentExchangeFormat)isastandardGPS/GNSSdataformatsupportedbymany

receiversorGPS/GNSSpost‐processinganalysissoftware.RTKLIBpost‐processinganalysisAPRTKPOST

canalsohandleRINEXdatafilesasinputs.ForpreparingRINEXfiles,RTKLIBprovidestheconverterAP

RTKCONV,whichtranslatesreceiverraw,RTCMandBINEXmessagestoRINEXOBS(observationdata),

RINEXNAV(GNSSnavigationmessages).RTKCONVcanalsoextractSBASmessagesfromthereceiver

rawdataandoutputtheSBASlogfile.

ThesupportedRINEXversionsare2.10,2.11,2.12,3.00,3.01and3.02(draft)withRTKLIBextensions.Refer

AppendixB.2forSBASlogfilesandAppendixD.1forsupportedRINEXfiles.



(1) ExecutethebinaryAPfile<install dir>\rtklib_<ver>\bin\rtkconv.exe.Youcanseethe

mainwindowofRTKCONV.



Figure3.6‐1MainWindowofRTKCONV



(2) InputthereceiverrawdatafilepathtothetextfieldRTCM,RCVRAWorRINEXOBS.Fillinthefile

pathdirectlyorselectthefilewiththefileselectiondialogbypushing...button.Youcanalsodrag

anddroptheiconoftherawdatafiletothemainwindowofRTKCONV.Supportedreceiverrawdata

formatsareasfollows.ReferAppendixD.2fordetailedsupportedmessagesforeachformat.Refer

AppendixD.3fortherelationshiptobeusedforconversionbetweenmultipleobservationcodes

expressedinRINEXversion2,RINEXversion3,RTCM3MSMandBINEX.

RTKLIBver.2.4.2Manual

51



(a)RTCM2 :RTCM2.3

(b)RTCM3 :RTCM3.0,3.1(withamendment1‐5)and3.2

(c)NovAtelOEM6:NovAtelOEM4/OEMV/OEM6andOEMStarbinaryformat

(d)NovAtelOEM3:NovAtelOEM3(Millennium)binaryformat

(e)u‐blox :u‐bloxLEA‐4T,5T,6Tbinaryformat

(f)SuperstarII :NovAtelSuperstarIIbinaryformat

(g)Hemisphere :HemisphereCrescent/Eclipsebinaryformat

(h)SkyTraq :SkyTraqS1315Fbinaryformat

(i)GW10 :FurunoGW‐10‐II/IIIbinaryformat

(j)Javad :JAVADGRIL/GREISbinaryformat

(k)NVSBINR :NVSNV08CBINRbinaryformat

(l)BINEX :BINEXformat(onlybig‐endian,forward,regularCRCmessages)

(m)RINEX :RINEXOBS/NAVformat.



Ifthewild‐card(*)isusedinthefilepath,thewild‐cardisexpandedtomultiplefilesandtheywillbe

read.BysettingʺRINEXʺastheinputfileformatandsettingoutputRINEXversion,youcanconvert

RINEXversion2toversion3orRINEXversion3toversion2.Inthiscase,youcanextractandoutput

RINEXdatawithselectedsatellites,signals,timespanortimeintervalofinputRINEXdata.



(3) SelecttheformatwiththepulldownmenuFormat.IfyouselectʺAutoʺ,RTKCONVrecognizesthefile

formataccordingtothefollowingfileextensions.



(a)RTCM2 :.rtcm2

(b)RTCM3 :.rtcm3

(c)NovAtelOEM6:.gps

(d)u‐blox :.ubx

(e)SuperstarII :.log

(f)Hemisphere :.bin

(g)SkyTraq :.stq

(h)Javad :.jps

(i)BINEX :.bnx, .binex

(j)RINEX :.obs,.*o,.nav,.*n,.*p,.*g,.*h,.*q,.*l



(4) InputtheoutputpathsofRINEXOBS(observationdata),RINEXNAV(GPSnavigationmessages),

RINEXGNAV(GLONASSnavigationmessages),RINEXHNAV(GEOsatellitenavigationmessages),

RTKLIBver.2.4.2Manual

52

RINEXQNAV(QZSSnavigationmessages),RINEXLNAV(Galileonavigationmessages)andSBAS

Logfiles.Fillinthefilepathdirectlyorselectthefilewiththefileselectiondialogbypushing...

button.Ifyoudonotcheckthecheckboxleft,thefileisnotoutput.RINEXGNAV,HNAV,QNAVand

LNAVaresupportedonlyinRINEXversion2.Ifselectingversion3astheoutputRINEX,all

navigationdataareoutputtoacombined(mixed)NAVtypeRINEXfile.Theoutputfilescaninclude

keywords.Thekeywordsarereplacedbytime,dateorstationID.Pushʺ?ʺbutton,toreferthekeyword

replacementsinoutputfiles.



(5) Ifyouwanttooutputthefilestoadirectory,checkʺOutputDirectoryʺandinputtheoutputdirectory.

Thedirectorycanbeselectedbypushing...button.IftheʺOutputDirectoryʺisnotchecked,thefiles

areoutputtothesamedirectoryoftheinputfile.Iftheoutputdirectoryisnotexist,thedirectoryis

automaticallycreated.Eveninthiscase,theparentdirectoryalwaysmustbeexist.Otherwise,the

directorycreationisfailed.



(6) YoucansetthestarttimeorendtimeoptionallybycheckingandsettingtheʺTimeStart(GPST)ʺ or

ʺTimeEnd(GPST)ʺ fieldupperinthemainwindow.Youcanalsosetthetimeintervaloptionby

checkingandsettingthefieldʺIntervalʺ.IfyouinputʺTimeStartʺ andʺTimeEndʺ,checkʺUnitʺand

inputʺTimeUnitʺ,youcaninitiatemultiple‐sessionconversion.Inthiscase,pleaseincludekeywords

tobereplacedbydateandtimeintheinputfilepathandtheoutputfilepaths.NotethatRTKCONV

doesnotconfirmtheoverwriteiftheoutputfileexistsinsuchamulti‐sessionconversioncase.



(7) YoucanpushOptions...buttontoconfigureRINEXoptions.SettheoptionsforRINEXheaders,

navigationsystems,observationtypesorfrequencieswithʺOptionsʺdialog.IfyoucheckRINEXName,

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ʺOptionʺ fieldis

receiver‐dependentoptions.Specifytheoptionsseparatedbyspaceslikeʺ

-EPHALL -GL1Xʺ.For

details,referAppendixD.5ReceiverDependentInputOption.ForRINEX3,youhadbettercheck

ʺScanObsTypesʺtoobtaineffectiveOBSTYPESininputfiles.Inthiscase,theinputfilesarescannedto

obtainavailableOBSTYPElistasthefirstconversionpathandthenRTKCONVoutputsRINEXasthe

secondconversionpath.IfʺScanObsTypesʺ unchecked,theOBSTYPESinoutputRINEXfilesare

determinedbythedefaultOBSTYPESsetdependingontheinputformatandtheʺSignalMaskʺ

settingsdescribedbelow.

RTKLIBver.2.4.2Manual

53



Figure3.6‐2OptionsDialogofRTKCONV



(9) TosetthemaskofOBSTYPEStooutputtotheobservationfile,usetheʺSignalMaskʺdialogshownby

pushingMask...buttonintheʺOptionsʺ dialog.YoushallchecksignalstobeoutputtoRINEX

observationfileinthedialog.YoushallunchecksignalsnottooutputtotheRINEXobservationfile.

NotethatthesignalsnotinthedefaultOBSTYPESsetornotininputdataarenotoutputevenif

checked.UseSetAllorUnsetAllbuttontoselectordeselectallsignals.ReferAppendixD.3for

observationtypesorsignalIDsintheinputdataandtheoutputRINEXfiles.



Figure3.6‐3SignalMaskDialogofRTKCONVOptions



(8) PushConvertbuttontostartconvertingthereceiverrawdatatoRINEXandSBASlogfiles.Ifyou

wanttostoptheconversionontheway,pushAbortbutton.Thestatusisdisplayedinthemessage

RTKLIBver.2.4.2Manual

54

arealowercenterinthemainwindow.ThemessageO=nnn meansthenumberofconverted

observationdata(epochs).ThemessageN=nnn, G=nnn, H=nnn,Q=nnn, L=nnn, S=nnn and

E=nnnmeansthenumberofnavigationmessages(NAV,GNAV,HNAV,QNAVandLNAV),SBAS

messagesanderrors,respectively.



(14) Afterfinishingtheconversion,youcanseetheobservationdataplotbypushingPlot...buttonwith

RTKPLOT.Refer3.7PlotandViewSolutionsandObservationDatafordetails.Youcanalsoviewthe

outputfilewithTextViewerbypushingbutton.



(15) BypushingProcess...button,youcanexecuteRTKPOST_MKLAPtoprocesstheconvertedRINEX

OBS/NAVfiles.Refer3.4Post‐processingAnalysiswithRTKPOSTfordetails.



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3.7 View and Plot Solutions with RTKPLOT



RTKLIBcontainstheAPRTKPLOTtoviewandplotthepositionigsolutionsbyRTKPOSTandRTKNAVI

withgraphicaluserinterface.RTKPLOTalsoacceptsgeneralNMEA0183filesorstreamstogeneratethe

solutionplot.



(1) ExecutethebinaryAPfile<install dir>\rtklib_<ver>\bin\rtkplot.exe.Youcanseethe

mainwindowofRTKPLOT.BypushingPlot...buttonorsomebuttonsofRTKPOSTandRTKCONV,

RTKPLOTisalsoexecuted.



 

Figure3.7‐1MainWindowofRTKPLOT



(2) ExecutethemenuʺFileʺ‐ʺOpenSolution1ʺandselectthesolutionfilewiththefileselectiondialog.

TheinputsolutionfilecanbeRTKLIBsolutionformatorNMEA‐0183.IfthefileformatisNMEA‐0183,

thefilemustcontainatleastNMEAGPRMCandGPGGAsentences.Ifthesolutionfileisvalid,the

receivergroundtrackisplotinthewindowonthemap.Thecolorofthemarks,linesandgridinthe

plotcanbechangedwiththemenuʺEditʺ‐ʺOptionsʺ.Thestatusbaratthebottomofthemainwindow

alsoshowsthetimerange,thenumberofsolutionepochs(N=nnnn),thebaselinelength

StatusBar

ToolBar

Reload/

Clear

Button

Time

Scroll‐bar

PlotType

Selection

PlotArea

Tool

Buttons

QualityFlag

Selection

RTKLIBver.2.4.2Manual

56

(B=0.0-x.xkm),thenumberandpercentageofeachqualitysolutions(Q=1:nnn(pp%),

2:nnn(pp%),...).ThequalityflagQandthemarkercolormeans:1:Fixed,2:Float,4:DGPS,5:

Single(thecolorsarechangeablewiththeplotoptions).ToscreenthemarksbythequalityflagQ,

selectthesecondpulldownmenuintheToolBar.Bydraganddropofthesolutionfileicontothemain

windowofRTKPLOT,youcanalsoreadandplotthesolutionfile.





Figure3.7‐2GNDTRKPlotbyRTKPLOT



(3) Bydraggingthemousewiththeleftbuttondownontheplot,youcandragthemapup,down,leftand

right.Youalsochangethescaleofthemapbydraggingthemouseupordownwiththerightbutton

orbyrotatingthescrollwheelofthemouse.



(4) ByselectingtheplottypepulldownmenurightinToolBar,youcanswitchtheplottoE/N/U

componentsofreceiverposition(Position),E/N/Ucomponentsofreceivervelocity(Velocity)orE/N/U

componentsofreceiveracceleration(Accel).YoucandragtheX/Y‐axiswithleft‐button‐draggingand

changethescalewithright‐button‐draggingattheX/Y‐axisarea.Youcanhideorshowthethreeplots

bypushingthreebuttonsrightoftheplottypepulldownmenu.

RTKLIBver.2.4.2Manual

57



Figure3.7‐3POSITIONPlotbyRTKPLOT



(5) Byselectingtheplottypepulldownmenu,youcanswitchtheplottoNSat/Age/Ratio(numberofvalid

satellites,ageofdifferential,ratiofactorofambiguityvalidation).IfyousettheʺOutputSolution

StatusʺoptiontoʺResidualsʺ,youcanshowaresidualsplot.Youcanswitchthefrequencybyselecting

L1/LC,L2orL5.Intheresidualsplotmode,youcanselectasatellitewithrightpulldownmenuaswell

asallsatellites.Intheresidualsplotofcarrier‐phases,theredlinesindicatecycleslipsandgraylines

indicateparityunknownflags(Thatmeanthehalf‐cycleambiguitiesincarrier‐phasearenotresolved).



RTKLIBver.2.4.2Manual

58



Figure3.7‐4RESIDUALSPlotbyRTKPLOT



(6) BypushingtoolbuttonsintheToolBar,youcancenterthecurrentpositionwith,adjustthescale

ofX‐axiswith,adjustthescaleofY‐axiswith,displaythecurrentpositionasalargemarkwith

,fixthecurrenttrackpositionatthehorizontalcenterwith,fixthecurrenttrackpositionatthe

verticalcenterwith,startanimationwithandstopanimationwith.YoucanalsoslideʺTime

ScrollBarʺtochangethecurrentepoch.Toclearreaddata,executethemenuʺFileʺ‐ ʺClearʺorpush

buttonintheToolBar.Toreloadthesolutionfile(s),executethemenuʺFileʺ‐ʺReloadʺorpush

buttonintheToolBar.



(7) ByexecutingthemenuʺFileʺ ‐ ʺOpenMapImageʺ,youcanreadaJPEGimageanddrawthemap

imageonthebackgroundoftheplotincaseoftheʺGndTrkʺplottype.Theimagecanbeenabledor

disabledbypushingbuttonintheToolBar.



RTKLIBver.2.4.2Manual

59



Figure3.7‐5MapImageOverlaybyRTKPLOT



(8) Toadjustthepositioninthemapimage,executethemenuʺEditʺ‐ʺMapImageʺandinputlatitudeand

longitudeoftheimage‐center,image‐scalealongXorY‐axisinʺMapImageʺ dialog.Ifyoufinishit,

pushSaveTagbuttontosavetheadjustmentinformationtoanimage‐tag‐file.Thepathofthe

image‐tag‐fileistheoriginalmapimagefilepath+.tag.Iftheimage‐tag‐filealreadyexists,itis

automaticallyreadwiththemapimageitself.Thecurrentversiondoesnotsupportrotationofthemap

image.Pleaseselectthemapimageinwhichthenorthdirectionisproperlyalignedtotheupper

direction.Forexample,youcangetaJPEGimagebythemenuʺFileʺ ‐ʺSaveʺofGoogleEarth.Tofix

northtoupper,pushʺNʺ buttoninGoogleEarth.Toavoidthedistortionofthemapimage,setthe

coordinatesorigininsideofornearthemapimage.



Figure3.7‐6MapImageOptionsDialogofRTKPLOT



(9) Inversion2.4.2,GoogleEarthViewandGoogleMapViewforRTKPLOTareaddedtoplotthesolution

onGoogleEarthorGoogleMap.ToopenGoogleEarthVieworGoogleMapView,executethemenu

RTKLIBver.2.4.2Manual

60

View‐GoogleEarthView...orView‐GoogleMapViewofRTKPLOTafterthesolutionread.The

toolbarbuttonsorcanalsobeusedtoshowtheseviews.NotesthattheInternetconnectionis

alwaysnecessarytousetheseviewsbasedonservicesprovidedbyGoogle.



(10) IntheGoogleEarthView,thetoolbarbuttonscanbeusedtoshow/hidenavigationcontrol,show/hide

Lat/Longrid,show/hidescalelegend,show/hideoverviewmap,show/hidestatusbar,enable/disable

layers(terrain,loads,buildingsandborders),switchobjective/perspectiveviews,zoomup/out,rotate

left/rightandfixnorth/headingup.IfthetoolbarbuttonʺshowtrackpointʺbuttononRTKPLOTmain

windowisdown,thetrackpointpositionisalsoshownintheGoogleEarthViewasayellow(solution

1)orred(solution2)marker.ThepositionsofmarkersarelinkedtothemarkerpositionsinRTKPLOT

mainwindow.Inthiscase,themarkerpositioncanbefixedtothecenteroftheGoogleEarthViewby

pushingʺFixTrackCenterʺ toolbarbutton.Toenablealtitudeinformationofthetrackpoint,push

ʺEnableAltitudeʺtoolbarbuttonintheGoogleEarthView.



Figure3.7‐7GoogleEarthViewofRTKPLOT



(11) IntheGoogleMapView,theonlyatoolbarbuttontofixthetrackpointcenterassameastheGoogle

EarthView.OtheroperationsfortheGoogleMapView,usethecontrolsintheGoogleMapView.



RTKLIBver.2.4.2Manual

61



Figure3.7‐8GoogleMapViewofRTKPLOT



(12) ByexecutingthemenuʺEditʺ‐ʺWaypoints...ʺ,youcanseetheʺWaypointsʺdialog.Withthedialog,

youcanload,save,addanddeletetheway‐pointsasthelistform.BypushingAddbuttonand

editingthepointname,thecurrentreceiverpositioncanbeaddedtotheway‐pointlist.Thepositions

ofthewaypointsareshownontheʺGndTrkʺplotwhenbuttondown.



Figure3.7‐9WaypointsDialogofRTKPLOT



(13) Toplotmultiplesolutionfile,executethemenuʺFileʺ‐ʺOpenSolutions‐2ʺandselectfilewiththefile

selectiondialog.Youcanswitchtheploton/offofthesolution1and2with12buttonsinToolBar.

ToPlotthedifferenceofthesolution1andthesolution2,push1‐2buttoninToolBar.



(14) Tosetthetimerangeandtimeintervalofthesolutions,executethemenuʺEditʺ‐ʺTimeSpan/Intervalʺ

andcheckandsettheTimeStart,TimeEndandIntervalfieldinʺTimeSpan/Intervalʺdialog.

RTKLIBver.2.4.2Manual

62



Figure3.7‐10TimeSpan/IntervalDialogofRTKPLOT



(15) ByExecutingthemenuʺEditʺ‐ʺSolutionSourceʺ,youcanviewthesourceofsolutionsasthetext

form.



Figure3.7‐11SolutionSourceViewofRTKPLOT



(16) Toplotsolutionsinreal‐time,executethemenuʺFileʺ‐ʺConnectionSettingsʺandsetsolution

parametersinʺConnectionSettingʺdialog.YoucanselectStreamType,StreamOption(Opt),Stream

Commands(Cmd),SolutionFormat,TimeFormat,Lat/LonFormatandFieldSepforbothof

solution‐1andsolution‐2.Aftersettingtheconnectionparameters,executethemenuʺFileʺ‐ʺConnectʺ

orpushbuttoninToolBar.Todisconnecttheexternaldevice,executemenuʺFileʺ‐ʺDisconnectʺor

pushconnectbuttonagain.Forexample,ifselectingserialasStreamTypeandNMEA0183asSolution

Format,youcanmonitorexternalreceiverʹsNMEAoutputintheRTKPLOTwindow.



RTKLIBver.2.4.2Manual

63



Figure3.7‐12ConnectionSettingsDialogofRTKPLOT



(17) BypushingPlot...buttonofRTKNAVI,RTKPLOTautomaticallyrunsandconnectstothemonitor

portofRTKNAVI.IfyouwanttoconnecttoRTKNAVIexecutedontheremotePC,configurethe

connectionsettingintheConnectionSettingdialog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connectionsareallowedfrommultiplePCsrunningRTLPLOTs.



(18) ToconfiguretheplottingoptionsforRTKPLOT,executethemenuʺEditʺ‐ʺOptions...ʺandsetthe

optionswiththefollowingʺOptionsʺdialog.



Figure3.7‐13OptionsDialogofRTKPLOT



RTKLIBver.2.4.2Manual

64

ItemDescriptionsNotes

TimeFormatSelecttimeformat.

(wwww/ssss,h:m:sGPST,h:m:sUTCorh:m:sLT).



Lat/LonFormatSelectlatitudeandlongitudeformat.

(ddd.dddddordddmmss.ss)



ShowStatisticsSetwhetherstatisticsareshownornot.



Cycle‐SlipSetwhethercycle‐slippositionisshownornotinthesatellite

visibilityplot.IfʺLGJumpʺselected,dualfrequencygeometry

freeLC(linearcombination)isusedtodetectcycle‐slips.Inthe

caseofʺLLIFlagʺ,LLI(loss‐off‐lockindicator)inRINEX

observationdataisused.Cycle‐slipsareshownasredvertical

linesintheSatelliteVisibilityplot.



ParityUnknownSetwhetherparityunknownstatusisshownornotinthe

satellitevisibilityplot.Parityunknownepochsareshownas

grayverticallinesinthesatellitevisibilityplot.



EphemerisSetwhetherephemerisstatusisshownornotinthesatellite

visibilityplot.Ephemeridesareshownasthegreylineunder

theobservationdata.GraydotsmeantheToe(timeof

ephemeris).Redephemerislinesmeanthesatelliteunhealthy.



ElevationMaskSettheelevationmaskangle(deg)forthesatellitevisibilityplot.

TheelevationmaskisalsousedforDOP/NSatplot.



ElevationMask

Pattern

Setwhetherelevationmaskpatternisusedornot.

HideLowSatelliteSetwhetherlowelevationsatellitesundertheelevationmask

andtheelevationmaskpatternareshownornot.



MaximumDOPSetthey‐axislimitofDOP/NSatplot.



ReceiverPositionSetthereceiverpositionforthesatellitevisibilityplotor

skyplot.ʺSingleSolutionʺusessingle‐pointresultsasreceiver

positionsbyusingobservationandnavigationdata.For

movingreceivers,youshallsetit.ʺLat/Lon/Hgtʺuseslatitude,

longitudeandheightforstaticreceiversspecifiedasthe

followingLat/Lon/Hgtfields.ʺRINEXHeaderʺusesʺAPPROX

POSITIONXYZʺinRINEXobservationdataheaderasthe

receiverposition.



SatelliteSystemCheckselectednavigationsystemsforplots.



ExcludedSatsSetexcludedsatellites.FillinthesatellitenumberorID

separatedbyspaces.



ErrorBar/CircleSetwhethererrorbarorerrorcircleisshownornotinsolution

display.YoucanselectʺBar/CircleʺorʺDotsʺastheformat.



DirectionArrowSetwhetherdirectionarrowandvelocityarrowareshownor

notinthesolutiongroundtrackplot.



GraphLabelSetwhethergraphlabelsareshownornotinsolutiondisplay.



Grid/GridLabelSetwhethergridandgridlabelsareshownornotinsolution

display.SetittoʺCirclesʺorʺCircles/Labelʺforcirculargrids.



CompassSetwhethercompassisshownornotinthesolutionground

trackplot.



ScaleSetwhetherscaleisshownornotinthesolutiongroundtrack

plot.



RTKLIBver.2.4.2Manual

65

ItemDescriptionsNotes

AutoFitSetwhetherscaleisadjustedautomaticallyornotforsolution

plots.



Y‐Range(+/‐)SettherangeofY‐axisinsolutionplots.



RTBufferSizeSetthebuffersizeforreal‐timesolutionplotsinepochs.The

oldersolutionsoverthebuffersizearedeletedforreal‐time

plots.



CoordinateOriginSelecttheoriginpositionofsolutiondisplayasfollows.

‐StartPos:thefirstsolutionposition

‐EndPos:thelastsolutionposition

‐AveragePos:theaverageofallsolutionpositions

‐LinearFitPos:basedonthelinearlyfittedpositions

‐BaseStation:thebasestationposition.

‐Lat/Lon/Hgt:latitude,longitudeandheightspecified

‐AutoInput:autopositionasfollows

‐Waypoint1‐10:awaypointposition



IfyouselectʺLat/Lon/Heightʺ,youhavetoinputlatitude,

longitudeandellipsoidalheightinthetextfieldsbelowforthe

origin.IfselectingʺAutoInputʺ,receiverIDisassumedasthe

4‐charactorsofthesolutionfilenameheadandthepositionis

readfromthepositionfile.Thepositionfilecanbeselectedby

pushing...buttonandpushingʺLoadʺbuttoninthepositionlist

dialog.



MarkColor1

(1‐6)

SetthemarkcolorsforsolutionNo.1orobservationdatain

plots.Clickcolorpanelrightandselectcolorwithcolor

selectiondialog.



MarkColor2

(1‐6)

SetthemarkcolorsforsolutionNo.2inplots.

LineColorSetthelinecolorinplots.



TextColorSetthetextcolorinplots.



GridColorSetthegridcolorinplots.



BackgroundColorSetthebackgroundcolorinplots.



PlotStyleSelecttheplotstyleinplots.Todeleteallofmarkersandlines

exceptforthetrackpointmark,setitʺNoneʺ.



MarkSizeSetthemarksizeinplots.



FontSelectthefontinplots.Push...buttonandselectthefontwith

thefontselectiondialog.



Animation

Interval

Settheanimationintervalforsolutionorobservationdata

plots.



UpdateCycle(ms)Settheplotupdatecycletimeinmsforreal‐timeplots



Lat/Lon/HgtSetlatitude,longitudeandheightfortheorigin.Fillinthe

valuesdirectlyorpush...buttonandselectastationposition.



RTKLIBver.2.4.2Manual

66

ItemDescriptionsNotes

QCCommandSetQCcommandanditsoptionsforobservationdata.

Asdefault,TEQCQCmodeoptionsareset.Thecommandis

usedforexecutingthemenuʺEditʺ‐ʺObsDataQC...ʺ.The

commandmustbeinthecommandsearchpathorinthe

directoryfortheRTKLIBexecutablefiles.



RINEXOptSetRINEXreadoptions.ForRINEXreadoptions,refer

<install dir>\rtklib_<ver>\src\rinex.cfordetails.



TLEDataSpecifyNORADTLEsatelliteorbitelementdatafile.TheTLE

dataareusedtocomputesatellitepositionsfortheskyplotif

thesatelliteephemerisunavailable.Bothoftwolineformator

threelineformatofTLEdatacanbeused.AsampleTLEdata

canbefoundat:

<iinstall dir>\rtklib_<ver>\data\

catalbe_2l_2013_01_09_pm.txt.

Seealso

RTKNAVI

Optionsdialog

SatNoSpecifythesatellitenumberfilewhichistoconnectGNSS

satellite/PRNnumbersandTLEsatellitecatalognumbersin

NORADTLEdatafile.Asamplesatellitenumberfilecanbe

foundat

<install dir>\rtklib_<ver>\data\

TLE_GNSS_SATNO.txt.



(19) ThefollowingmenusareprovidedinRTKPLOT.Somemenuscanbeexecutedbypushingbuttonon

theToolBar.



MenuTool

BarDescriptionNotes

File

OpenSolution‐1...*OpensolutiondataNo.1.*double

click

OpenSolution‐2...*OpensolutiondataNo.2.*double

click

OpenMapImage...‐Openmapimagedataforthesolutionplot.

OpenMapPath...‐Openmappathdataforthesolutionplot.

BrowseSolution‐

ShowʺSolutionBrowserʺwindowandbrowse

solutiondata.

OpenObsData...‐

Openobservationdata.Navigationdataarealso

openautomatically.

OpenNavData...‐Opennavigationdatamanually.

OpenElevMask...‐Openelevationmaskdata.

VisibilityAnalysis...‐Executesatellitevisibilityanalysis.

SaveImage...‐Savetheimageoftheplottoanimagefile.

Save#ofSats/DOP...‐

SavethenumberofsatellitesandDOPtoantext

file.

RTKLIBver.2.4.2Manual

67

MenuTool

BarDescriptionNotes

SaveSNR,MPand

AZ/EL..‐ SavetheSNR,multipathandazimuth/elevation

datatoantextfile.

Connect...Connecttoexternalreal‐timesolutionstreams.

Disconnect...Disconnecttheconnection.

ConnectionSettings...‐

ShowtheʺConnectionSettingʺdialogto

configuretheconnectionoptions.

Reload

Reloadsolution,observationandnavigation

data.

ClearClearsolution,observationandnavigationdata.

Exit‐CloseandexitRTKPLOT.

Edit

TimeSpan/Interval...‐

SettheʺTimeSpan/Intervalʺdialogtosettime

spanandtimeinterval.

MapImage...‐

ShowtheʺMapImageʺdialogtoconfigurethe

size,positionandscaleoftheimagedata.

Waypoints...‐

ShowtheʺWaypointʺdialogtoaddormodifythe

waypoints.

SolutionSource...‐

ShowthesourceofthesolutiondatabyText

Viewer.

ObsDataSource...‐

ShowthesourceoftheobservationdatabyText

Viewer.

ObsDataQC...‐

ExecuteQCoftheobservationdataandshowthe

resultsbyTextViewer.

CopyToClipboard‐CopytheimageoftheplottoClipboard.

Options

ShowtheʺOptionsʺdialogtoconfigureplot

options.

View

ShowToolBar‐ShoworhidetheToolBar.

ShowStatusBar‐ShoworhidetheStatusBar.

GoogleEarthView...ShowGoogleEarthView.

GoogleMapView...ShowGoogleMapView.

InputMonitor1...‐

ShowtheʺInputMonitorʺwindowforreal‐time

inputstreamNo.1.

InputMonitor2...‐

ShowtheʺInputMonitorʺwindowforreal‐time

inputstreamNo.2.

CenterOriginMovethecoordinatesorigintothecenterofthe

plot.

FitHorizontal

Fitthehorizontalrangeofthesolutionor

observationdataintheplot.

FitVertical

Fittheverticalrangeofthesolutiondatainthe

plot.

ShowTrackPointShoworhidethetrackpointofthesolutionor

observationdataintheplot.

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MenuTool

BarDescriptionNotes

FixTrackCenterFixthetrackpointonthecenteroftheplot.

FixTrackHorizontalFixthetrackpointhorizontallyontheplot.

FixTrackVerticalFixthetrackpointverticallyontheplot

ShowMapImageShoworhidethemapimage.

ShowPath/WaypointsShoworhidethemappathdata.

AnimationStartStarttheanimationoftheplot.

AnimationStopStoptheanimationoftheplot.

HelpAbout...‐ShowtheʺAbout...ʺdialog.

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3.8 View and Plot Observation Data with RTKPLOT



RTKPLOTisalsousedtoviewandplottheRINEXobservationdataaswellassatellitevisbilityanalysis.



(1) ToplottheRINEXobservationdata,executemenuʺFileʺ‐‐ʺOpenObsDataʺofRTKPLOTandselect

theRINEXobservationandnavigationmessagefiles.YoucanselectmultipleRINEXfiles.Ifyoudonot

selecttheRINEXnavigationmessagefile,RTKPOSTreadstheobservationdatafilepathswiththe

extensionreplacedby.*nav (.obs)or.yyN,.yyG,.yyH,.yyQ,.yyL,.yyP (.yyO)astheGPS,

GLONASS,SBAS,QZSS,Galileoorcombinednavigationdata.IfyouwantreadtheRINEXnavigation

messagefileseparately,executethemenuʺFileʺ‐ʺOpenNavMessagesʺ.Iftheinputfilescanberead

properly,youcanseeasatellitevisibilityplot.Youcanuseleft‐buttonorright‐buttondragtochange

thetimespan.Youcanalsousesometoolbarbuttonsaswellasforthesolutionplot.



Figure3.8‐1SatelliteVisibilityPlotofRTKPLOT



(20) ByselectingthepulldownmenuinToolBar,youcanswitchtheplottothesatellitevisibilityinskyplot

(SkyPlot)ortheplotofthenumberofvisiblesatellites,theDOP/NSatplot(DOP/NSat),the

SNR/Multipath/Elevationplot(SNR/MP/EL)andtheSNR/Multipath‐ELplot(SNR/MP‐EL).Toshow

theSNRplots,theobservationdatamustcontainSNR(C/N0)information.Toshowtheproper

multipathplots,theobservationdatamustcontaindual‐frequency(L1‐L2forGPS,GLONASSand

QZSS,L1‐L5forGalileo,L2‐L7forBeiDou)pseudorangeandcarrier‐phase.RTKPLOTinternally

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generatesMPLC(linearcombination)withtheseobservablestoplotthemultipath.Tocomputethe

elevationangleofsatellites,RTKPLOTalsoneedsatellitepositions.IncaseofRINEXNAVfilesinput,

thesatellitepositionsarecomputedbyusingsatelliteephemeridesinRINEXNAVfiles.IftheRINEX

NAVfilesarenotavailable,RTKPLOTalternativelyusesNORADTLE(twolineelement)datasetfor

satellitepositions.Inthiscase,youmustspecifythereceiverpositionasthelatitude,longitudeand

heightformintheʺOptionsʺdialog.Youcanselectsignalsandsatelliteswithupperpull‐downmenus

onthetoolbar.Inthesatelliteselection,ʺGʺ,ʺRʺ,ʺEʺ,ʺJʺ,ʺCʺandʺSʺ meanGPS,GLONASS,Galileo,

QZSS,BeiDouandSBAS,respectively.



Figure3.8‐2SkyplotbyRTKPLOT

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

Figure3.8‐3#ofVisibleSatellitesandDOPPlotbyRTKPLOT



Figure3.8‐4SNR/MultipathPlotbyRTKPLOT



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

Figure3.8‐5SNR/Multipath‐ElevationPlotbyRTKPLOT



(21) YoucanapplytheelevationmaskbyreadingtheelevationmaskdatabythemenuʺFileʺ‐ʺOpenElev

MaskʺandbysettheoptionʺElevMaskPatternʺON.Fortheformatoftheelevationmaskdata,refer

theexamplefilefoundin<install dir>\rtklib_<ver>\data\elmask_sample.txt.



Figure3.8‐6ElevationMaskinSkyplotbyRTKPLOT



(22) ByExecutingthemenuʺEditʺ ‐ ʺObsDataSourceʺ orʺObsDataQCʺ,youcanviewthesourceof

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solutionsortheQCresultasthetextform.



Figure3.8‐7QCResultViewbyRTKPLOT



(23) Inver.2.4.2,thesatellitevisibilityanalysisfunctionisadded.WithNORAD(NorthAmerican

AerospaceDefenseCommand)TLE(twolineelement)dataset,youcanpredictGNSSsatellite

visibilitybyRTKPLOTanywhereandanytime.Toenablethisfeature,settheTLEdataandthesatellite

numberfilepathbyʺOptionsʺdialog.Thefollowingfiguresshowexamplesofthesefiles.



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

Figure3.8‐8ExamplesofTLEData(upper)andSatelliteNumberFile(lower)



NORADTLEdatafilesarefreelyavailableatCelesTrak(http://celestrack.com)orSpaceTrack

(http://www.space‐track.org).YouhavetodownloadTLEdatacontainingorbitelementsoftarget

GNSSsatellites.ForallofGNSSsatellites,youhadbettertouseʺfullcatalogʺforallavailablesatellites

providedbySpaceTrack.Formoreaccuratesatellitepositions,youhadbettertousenewerTLEdata.

AnothersatellitenumberfileisusedtotranslatetheTLEsatellitenumberstotheGNSSsatellite

numberslikeG23,R03,139.Asamplesatellitenumberfilecanbefoundat<install

dir>\rtklib_<ver>\data\TLE_GNSS_SATNO.txt.NotethatthecorrespondenceofGNSS

satellitenumberswithsatellitesissometimeschangedbythesystemconstellationchange.Inthiscase,

youshalleditandmodifythesatellitenumberfilebyyourself.

TopredicttheGNSSsatellitevisibility,setuserlocationaslatitude,longitudeandheightbyʺOptionsʺ

dialog.YouhavetosetʺReceiverPositionʺtoʺLat/Lon/Hgtʺ.ThenexecutethemenuʺFileʺ‐ʺVisibility

Analysis...ʺ,youcanseeʺTimeSpan/Intervalʺdialog.



Figure3.8‐9TimeSpan/IntervalDialogofRTKPLOT



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

Bythedialog,setʺTimeStartʺ,ʺTimeEndʺ inGPSTime,ʺIntervalʺ fortheanalysisandpushʺOKʺ

button.Youcanobtainasatellitevisibilitychartatthespecifiedlocation.Inthechart,thecolors

indicatesatellitesystemasGPS,GLONASS,Galileo,QZSS,BeiDouandSBASasdefault.Youcan

switchtheplottoSkyplot,DOP/NSatorSNR/MP/ELassameastheobservationdataplots.



Figure3.8‐10SatelliteVisibility(Predicted)PlotbyRTKPLOT



Figure3.8‐11Skyplot(Predicted)byRTKPLOT

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

(24) FortheplottingoptionsforsolutiondatabyRTKPLOTandthemenusprovidedbyRTKPLOT,refer

3.7ViewandPlotSolutiondatawithRTKPLOT.



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3.9 Download GNSS Products and Data with RTKGET



ForPPP(precisepointpositioning)analysis,youwouldoftenneedtodownloadIGS(InternationalGNSS

service)preciseGNSSproductslikesatelliteorbitandclockinformation.Inothercases,youmightwantto

downloadtheobservationdataofaCORS(continuousoperatingreferencestations)networkfromaGNSS

dataarchiveviaInternet.TodownloadtheseGNSSrelatedproductsanddata,RTKLIBoffersausefulGUI

downloadutilityAPRTKGET.RTKGETisnewlyaddedinver.2.4.2.



(1) ExecutethebinaryAPfile<install dir>\rtklib_<ver>\bin\rtkget.exe.Youcanseethe

mainwindowofRTKGET.



Figure3.9‐1MainWindowofRTKGET



(2) Atfirst,youhavetoconfiguretheURLlistfileforGNSSdata.PushOptions...buttoninthemain

window.YoucanseetheʺOptionsʺdialog.



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

Figure3.9‐2OptionsDialogofRTKGET



(3) Fillinthefilepathorselectthefilebypushing...ofʺURLListFileforGNSSDataʺ.ReferAppendix

B.5fortheformatofthefile.AnexampleoftheURLlistfileforGNSSdataisfoundat<install

dir>\rtklib_<ver>\data\URL_LIST.txt.Ifyouleavethefieldblank,RTKGETusesthedefault

URLListfile<install dir>\rtklib_<ver>\data\URL_LIST.txt.



(4) Selectdownloaddatatypebytheleftlist‐boxinthemainwindow.Youcanselectmultipledatatypes

inthelist.Byusingcombo‐boxabovethelist‐box,youcanfilterthelistbydatatypecategories.The

URLaddressofdownloaddataisshownatthecenterofthefirstmessagearea.Thelocaldirectoryis

alsoshowninthesecondmessagearea.



Figure3.9‐3SelectionofDownloadDataTypebyRTKGET



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

(5) SpecifythetimespaninGPSTimewithʺStartʺ,ʺEndʺandʺIntvʺfields.ThetimekeywordsintheURL

addressofdownloaddataarereplacebythetimespecifiedasthetimespan.IftheURLaddress

containsthekeyword%N,thekeywordisreplacedbythenumberintheʺNo.ʺ field.Tospecifya

sequenceofnumbers,useʺ-ʺtoexpresstherangelikeʺ1-99ʺintheʺNo.ʺfield.



(6) TheURLaddresscontainskeyword%s,%Sor%r,thekeywordisreplacedbythestationnames

selectedintherightlist‐boxʺStationsʺ.Toselectthestationname,push...buttonattherightupper

cornerinthemainwindow.YoucanseetheʺStationsʺdialog.Youcaninputoreditthestationname

listsinthedialog.Alineofthestationnamelistsindicateastationnametobeusedtoreplacethe

keywordsintheURLaddress.Toloadstationnamelistfromaexternaltextfile,pushLoad...button

toselectthefile.YoucansavethestationnamelisttoexternaltextfilebypushingSave...button.

Theexternaltextfileissimpletextfilecontainingstationnamesastextlines.Afterinputoreditthe

stationnamelist,pushOKbuttontoclosethedialogandsetthestationnamelisttothemain

window.



Figure3.9‐4StationsDialogofRTKGET



(7) IncaseofFTPdownload,setʺFTPLoginʺandʺPasswordʺ forFTPserverlogin.Forthemostofthe

anonymousFTPservers,youcanuseʺanonymousʺandyourE‐mailaddressforthefileds.Thencheck

oruncheckthefollowingdownloadoptions:

(a)SkipExistingFiles:Setwhetheryouskipthedownloadornotifthelocalfileexists

(b)Unzip/UncompactFiles:Setwhetheryouunzipofuncompressthedownloadfilesiftheseare

compressed.

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(c)LocalDirectory:Checkandsetthelocaldirectorypathfordownloadedfiles.Push...toselect

directorybytheʺDirectorySelectionʺdialog.Ifnotchecked,thedefaultdownloaddirectoryinthe

URLlistfile.Thedirectorypathcancontainkeywordstobereplacedbydate,time,stationnameand

envrionmentvariableassameasURLlist.Push?buttontoshowdetailedreplacementinthe

directorypath.



Figure3.9‐5KeywordReplacementDialogofRTKGET



(8) SelectstationnamesinʺStationsʺlist‐box.PushAbuttontoselectallofstationsandDbuttonto

deselectallofstations.



(9) PushDownloadbuttontostartdownload.Thethirdmessageareashowsthedownloadstatus

indicatorforeachfile.Theindicatorʺ

_ʺ meansinprogress,ʺ

oʺ meansdownloadOK,ʺ

.ʺ means

skipped,ʺ

xʺ meansnodataandʺ

Xʺ meanssomedownloaderror.Toabortthedownloadhalfway,

pushAbortbutton.Eveninpushingthebutton,thelastdownloadstillinprogresscannotcanceled.

Pleasewaitawhiletofinishthelastdownloadtoabort



Figure3.9‐6DataDownloadingbyRTKGET

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81



(10) Aftercompletingallofthedownloadsorabortingthedownload,pushFiles...buttoninthemain

windowtoexecuteWindowsexplorershowingthedownloadedlocaldirectory.Toseethedownload

log,pushLog...button.YoucanseethedownloadloginʺTextViewerʺ window.Toenablethe

downloadlogfunction,youhavetosettheʺDownloadLogFileʺ fieldintheʺOptionsʺ dialog.If

ʺAppendʺcheckedforthedownloadlog,thelogsareaddedtotheexistinglogfileifitexists.Ifnot

checked,thedownloadlogisnewlygeneratedforeverytriesofdownloads.



Figure3.9‐7DownloadLogViewbyRTKGET



(11) TotestGNSSdataexistenceaslocalfilesbeforeactualdatadownload,pushTest...buttonafter

settingsassameastheactualdownloaddescribedabove.Youcanseethelocaldataavailabilityreport

intheʺTextViewerʺwindow.YoucansavethereportbypushingSave...buttonandspecifythefile

pathinthefilesavedialog.Thenumberofcolumnsanddateformatofthelocaldataavailability

reportcanbemodifiedbytheʺOptionsʺdialog.



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

Figure3.9‐8LocalFileTestViewbyRTKGET



(12) Bydefault,thedetailedlogforthedownloadprogressanderrorsisautomaticallydeleted.Tokeep

sucherrorlogs,checkʺKeepErrorInfoonDownloadErrorʺintheʺOptionsʺdialog.Thedetailederror

logissavedasthefile<local dir>\<file>.errforeachdownloadfile.Tokeepremotefilelistfile

inordertoanalyzetroubleseasily,checkʺKeepRemoteDirectoryListingʺaswell.Theremotefilelist

issavedasthefile.listinginthecurrentdirectory.



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3.10 NTRIP Browser



NTRIP(NetworkedTransportofRTCMviaInternetProtocol)isacommunicationprotocoltointerchange

GPS/GNSSrelateddatasuchasreceiverrawobservationdata,ephemeridesandcorrectionsforDGPSor

RTK‐GPS.NTRIPspecifiesthetableformatofso‐calledSourceTable,whichrepresentscontentslistof

provideddatabyNTRIPservers.RTKLIBincludesasimplebrowserforNTRIPSourceTables.



(1) ExecutethebinaryAPfilertklib_<ver>\bin\srctblbrows.exe.Youcanseethemainwindow

ofNTRIPSourceTableBrowser.



Figure3.10‐1MainWindowofNTRIPBrowser



(2) Pushbuttonupperleftinthemainwindow,leavingrightpulldownmenuofNTRIPcasterlist

blank.Ifthebottomstatusbarshowsʺconnecting...ʺandthenʺupdatecasterlistʺ,theNTRIPcasterlist

isupdated.Ifthepulldownmenuisblank,thebrowseracquirestheNTRIPcasterlistfromthedefault

NTRIPinfocasterrtcm-ntrip.org:2101andupdatethelist.Tochangethesourceofthelist,fillthe

NTRIPcasteraddressastheformof<address>:<port>

inthepulldownmenuandpushbutton.

Ifyouomitportnumber,thebrowserusesthedefaultportnumber2101.



(3) Selectthecasterinthepulldownmenuandpushbutton.Ifthestatusbarshowsʺsourcetable

receivedʺ,thebrowserproperlyreceivedaNTRIPSourceTablefromtheselectedNTRIPcasterand

showsitinthewindow.Thestatusbaralsoindicatetheerrormessageifaproblemarises.

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

Figure3.10‐2NTRIPStreamListViewbyNTRIPBrowser



(4) Bypushingfieldtitle,youcansortthelistbythefieldcolumn.YoualsocanpushSTR,CAS,NET,

SRCtoswitchthecontentsoftheSourceTabletoStreamList,CasterList,NetworkListandOriginal

SourceTable.



Figure3.10‐3NTRIPSourceTableViewbyNTRIPBrowser



RTKLIBver.2.4.2Manual

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

(5) BypushingtheMAPinToolBar,youcanopenthemapviewofthepositionsoftheNTRIPmount

pointsbyGoogleMap.Byclickthemarkerinthemapview,youcanshowthedetailinformationofthe

mountpoint.ByselectingamountpointintheNTRIPbrowserwindow,indicatethemountpoint

positioninthemapbychangethemarkerʹscolor(red).



Figure3.10‐4MapViewofStationPositionsbyNTRIPBrowser



RTKLIBver.2.4.2Manual

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3.11 Use CUI APs of RTKLIB



RTKLIBincludesthefollowingCUIAPs.TheseCUIAPsonlyusestandardANSIC(C89)functionsanda

smallnumberofstandardClibrariestoensuretheportability.SoyoucouldbuildtheseCUIAPsonthe

non‐WindowsenvironmentlikeLINUX,UNIX,MACOSXandsoon.Youcanalsobuildandexecutethese

APsonembeddedCPUlikeARM.ReferAppendixACUICommandReferencesfortheseAPsincluding

commandlineoptions.FortheproceduretobuildtheseAPs,refer4.2BuildCUIAPsofRTKLIB.Notesthat

youmighthavetomodifymakefiletoadjustthebuildenvironmentbuttheprogramitselfdoesnotneed

tomodifytoportitonthemostofenvironments.



(1) RTKRCV

Real‐timePositioning.TheconsoleAPversionofRTKNAVI.



(2) RNX2RTKP

Post‐ProcessingAnalysis.TheconsoleAPversionofRTKPOST.



(3)POS2KML

GoogleEarthKMLconverterforsolutionfiles.



(4) CONVBIN

RINEXConverterofreceiverrawdata.TheconsoleAPversionofRTKCONV.



(5) STR2STR

StreamServer.ConsoleAPversionofSTRSVR.



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4 Build APs or Develop User APs with RTKLIB

4.1 Rebuild GUI and CUI APs on Windows



TomodifysomefunctionsofRTKLIBortoinstallyournewmodelstoRTKLIB,youmaywanttorebuild

APs.Tofixexistingbugs,youalsomayneedtorebuildAPstoapplypatches.TorebuildGUIandCUIAPs

onWindows,youneedEmbarcaderoC++BuilderXE2orXE3(http://www.embarcadero.com).RTKLIB

internallyonlyutilizesfundamentalVCL(visualcomponentlibrary)functionsprovidedbyC++builder.At

least,thebasicʺstartereditionʺisenoughtorebuildRTKLIBAPs.Thefollowinginstructionsshowshowto

rebuildGUIandCUIAPsonWindows.



(1) ExecuteEmbarcaderoC++BuilderXE2orXE3.



(2) ExecutethemenuʺFileʺ‐ʺOpenProject...ʺofC++buildertoopentheC++builderprojectfileofthe

targetAP(<app>.cbproj or _<app>.cbproj, <app> isthetargetAPlikertkpost,rtkplotor

rtknavi)intheapplicationprogramdirectory(<install dir>\rtklib_<ver>\app\<app> or

<install dir>\rtklib_<ver>\app\<app>\bcc\).



(3) ExecutethemenuʺProjectʺ‐ʺRebuild<app>ʺofC++buildertorebuildthetargetAP.



(4) Execute(doubleclickthefileorinputthecommand)theWindowsbatchfileinstall.batinthesame

directoryastheprojectfile.Itcopiesanewlybuiltexecutablebinaryprogramtothedirectoryof

RTKLIBbinaryprograms(<install dir>\rtklib_<ver>\bin).



(5) TorebuildalloftheGUIAPsortheCUIAPs,opentheC++buildergroupprojectfile<install

dir>\rtklib_<ver>\app\rtklib_winapp.gourpprojor<install

dir>\rtklib_<ver>\app\rtklib_consapp.gourpproj. ExecutethemenuʺProjectʺ‐ʺBuild

AllProjectsʺofC++builder.Executethebatchfileinstall_winapp.bator

install_consapp.batinthesamedirectorytocopythemtothebinaryprogramdirectory.



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4.2 Build CUI APs



TobuildCUIAPs,youcanusemanyCcompilerslikegcc.TheRTKLIBpackageincludesstandard

makefileforgcc.Accordingtoyourcompiler,librariesordirectories,youmayneedtomodifythe

makefile togenerateAPsdependingtoyourenvironment.



(1) Movetotheapplicationprogramdirectory(rtklib_<ver>/app/<app>)ofthetargetAP.

>> cd <install_dir>/rtklib_<ver>/app/<app>



(2) Movetogccdirectory.

>> cd gcc



(3) Editandmodifymakefiletoadjustthefiletoyourenvironment.

>> vi makefile



(4) ExecutemaketobuildtheAPandmake installtoinstallthebinaryfiletoappropriateBINdirectory.

>> make

>> make install



RTKLIBver.2.4.2Manual

89

4.3 Develop and Link User APs with RTKLIB



RTKLIBprovidethefollowinggeneralpurposeC‐functionscallablefromuserAP(applicationprogram).

UsercanusethesefunctiontodevelopuseroriginalpositioningAPs.



(1) Matrixandvectorfunctions

(2) Timeandstringfunctions

(3) Coordinatestransformationandgeoidmodel

(4) Navigationprocessing

(5) Positioningmodels(troposphere,ionosphere,antennaPCV)

(6) SBASDGPS/DGNSScorrection

(7) Singlepointpositioning

(8) Carrier‐basedandcode‐basedrelativepositioning

(9) OTFintegerambiguityresolution

(10) Receiverrawbinarydatainput

(11) Positioningsolution/NMEAinput/output

(12) RINEXobservationdata/navigationmessageinput/output

(13) Preciseephemerisinput

(14) Streamdatacommunicationlibrary

(15) NTRIP(NetworkedTransportofRTCMviaInternetProtocol)library

(16) RTK‐GPS/GNSSpositioningserver

(17) RTCM2.3and3.0/3.1/3.2messagehandling

(18) Downloaderfunctions



ThefollowinginstructionsshowsthewaytoutilizethelibraryofRTKLIBinuserAP.



(1) AddthefollowingincludedirectivetothesourceprogramofuserAP.

#include "rtklib.h"



(2) SetthefollowingcompileroptiontoaddRTKLIBsourcedirectorypathtocompilerincludepaths.

-I rtklib_<ver>\src



(3) AddthenecessaryRTKLIBlibrarysourcefilestosourceprogramssetfortheAPbuild.ReferAppendix

CLibraryAPIsforthelibraryfunctionlistandsourceprogramsprovidedbyRTKLIB.

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Appendix A CUI Command References

A.1 RTKRCV

SYNOPSIS

rtkrcv [-s][-p port|-d dev][-o file][-t level]

DESCRIPTION

Acommandlineversionofthereal‐timepositioningAPbyRTKLIB.TostartorstopRTKserver,to

configureoptionsortoprintsolution/status,loginaconsoleandinputcommands.Asdefault,stdin/stdout

areusedfortheconsole.Use‐poptionfornetworkloginwithtelnetprotocol.Toshowtheavailable

commands,type?orhelpontheconsole.Theinitialprocessingoptionsareloadedfromdefault

configurationfilertkrcv.conf.Tochangethefile,use‐ooption.Toconfiguretheprocessingoptions,edit

theconfigurationfileoruseset,loadorsavecommandontheconsole.Toshutdowntheprogram,use

shutdowncommandontheconsoleorsendtheUSR2signaltotheprocess.Forconfigurationfile,referB.4.

OPTIONS

-s start RTK server on program startup

-p port port number for telnet console

-m port port number for monitor stream

-d dev terminal device for console

-o file configuration file

-r level output solution status file (0:off,1:states,2:residuals)

-t level debug trace level (0:off,1-5:on)

COMMANDS

start

Start RTK server. No need the command if the program runs with -s option.

stop

Stop RTK server.

restart

Restart RTK server. If the processing options are set, execute the command to enable

the changes.

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solution [cycle]

Show solutions. Without option, only one solution is shown. With option, the

solution is displayed at intervals of cycle (s). To stop cyclic display, send break

(ctr-C).

status [cycle]

Show RTK status. Use option cycle for cyclic display.

satellite [cycle]

Show satellite status. Use option cycle for cyclic display.

observ [cycle]

Show observation data. Use option cycle for cyclic display.

navidata [cycle]

Show navigation data. Use option cycle for cyclic display.

stream [cycle]

Show stream status. Use option cycle for cyclic display.

error

Show error/warning messages. To stop messages, send break (ctr-C).

option [opt]

Show the values of processing options. Without option, all options are displayed.

With option, only pattern-matched options are displayed.

set opt [val]

Set the value of a processing option to val. Without option val, prompt message

is shown to input the value. The change of the processing option is not enabled

before RTK server is restarted.

load [file]

Load processing options from file. Without option, default file rtkrcv.conf is used.

To enable the changes, restart RTK server.

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save [file]

Save current processing options to file. Without option, default file rtkrcv.conf

is used.

log [file|off]

Record console log to file. To stop recording the log, use option off.

help|? [path]

Show the command list. With option path, the stream path options are shown.

exit

Exit and logout console. The status of RTK server is not affected by the command.

shutdown

Shutdown RTK server and exit the program.

!command [arg...]

Execute command by the operating system shell. Do not use the interactive command.

NOTES

Short form of a command is allowed. In case of the short form, the command is

distinguished according to header characters.

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A.2 RNX2RTKP



SYNOPSIS

rnx2rtkp [option ...] file file [...]



DESCRIPTION

ReadRINEXOBS/NAV/GNAV/HNAV/CLK,SP3,SBASmessagelogfilesandcomputereceiver(rover)

positionsandoutputpositionsolutions.

ThefirstRINEXOBSfileshallcontainreceiver(rover)observations.Fortherelativemode,thesecond

RINEXOBSfileshallcontainreference(basestation)receiverobservations.AtleastoneRINEX

NAV/GNAV/HNAVfileshallbeincludedininputfiles.TouseSP3preciseephemeris,specifythepathin

thefiles.TheextensionoftheSP3fileshallbe .sp3or.eph.Alloftheinputfilepathscaninclude

wild‐cards(*).Toavoidcommandlinedeploymentofwild‐cards,useʺ...ʺforpathswithwild‐cards.

Commandlineoptionsareasfollows([]:default).With‐koption,theprocessingoptionsareinputfromthe

configurationfile.Inthiscase,commandlineoptionsprecedeoptionsintheconfigurationfile.Forthe

configurationfile,referB.4.



OPTIONS

-? print help

-k file input options from configuration file [off]

-o file set output file [stdout]

-ts ds ts start day/time (ds=y/m/d ts=h:m:s) [obs start time]

-te de te end day/time (de=y/m/d te=h:m:s) [obs end time]

-ti tint time interval (sec) [all]

-p mode mode (0:single,1:dgps,2:kinematic,3:static,4:moving-base,

5:fixed,6:ppp-kinematic,7:ppp-static) [2]

-m mask elevation mask angle (deg) [15]

-f freq number of frequencies for relative mode (1:L1,2:L1+L2,3:L1+L2+L5) [2]

-v thres validation threshold for integer ambiguity (0.0:no AR) [3.0]

-b backward solutions [off]

-c forward/backward combined solutions [off]

-i instantaneous integer ambiguity resolution [off]

-h fix and hold for integer ambiguity resolution [off]

-e output x/y/z-ecef position [latitude/longitude/height]

-a output e/n/u-baseline [latitude/longitude/height]

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-n output NMEA-0183 GGA sentence [off]

-g output latitude/longitude in the form of ddd mm ss.ss [ddd.ddd]

-t output time in the form of yyyy/mm/dd hh:mm:ss.ss [sssss.ss]

-u output time in utc [gpst]

-d col number of decimals in time [3]

-s sep field separator [' ']

-r x y z reference (base) receiver ecef pos (m) [average of single pos]

-l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m)

-y level output solution status (0:off,1:states,2:residuals) [0]

-x level debug trace level (0:off) [0]

EXAMPLES

Example1.KinematicPositioning,L1+L2,outputLatitude/Longitude/HeighttoSTDOUT.

> rnx2rtkp 07590920.05o 30400920.05o 30400920.05n

Example2.SinglePointPositioning,ElMask=15deg,outputNMEAGGAtofileout.pos

> rnx2rtkp -p 0 -m 15 -n -o out.pos 07590920.05o 30400920.05n

Example3.StaticPositioning,L1,timeformyyyy/mm/ddhh:mm:ss,outputX/Y/Z‐ECEFpositions

> rnx2rtkp -p 3 -f 1 -t -e 07590920.05o 30400920.05o 30400920.05n

Example4.KinematicPositioning,InstantaneousAR,validationthreshold=2,commaseparator

> rnx2rtkp -i -v 2 -s , 07590920.05o 30400920.05o 30400920.05n



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A.3 POS2KML



SYNOPSIS

pos2kml [option ...] file [...]



DESCRIPTION

Readpositionfile(s)andconvertittoGoogleEarthKMLfile.Eachlineintheinputfileshallcontainfields

oftime,positionfields(Latitude/Longitude/HeightorX/Y/Z‐ECEF),andQualityflag(option).Theline

startedwithʹ%ʹ,ʹ#ʹ,ʹ;ʹistreatedascomment.Commandoptionsareasfollows.([]:default)



OPTIONS

-h print help

-o file output file [infile + .kml]

-c color track color

(0:off,1:white,2:green,3:orange,4:red,5:yellow) [5]

-p color point color

(0:off,1:white,2:green,3:orange,4:red,5:by qflag) [5]

-a output altitude information [off]

-ag output geodetic altitude [off]

-tg output time stamp of gpst [off]

-tu output time stamp of utc [gpst]

-i tint output time interval (s) (0:all) [0]

-q qflg output q-flags (0:all) [0]

-f n e h add north/east/height offset to position (m) [0 0 0]

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A.4 CONVBIN



SYNOPSIS

convbin [-ts y/m/d h:m:s] [-te y/m/d h:m:s] [-ti tint] [-r format] [-ro opts]

[-f freq] [-hc comment] [-hm marker] [-hn markno] [-ht marktype]

[-ho observ] [-hr rec] [-ha ant] [-hp pos] [-hd delta] [-v ver] [-od]

[-os] [-x sat] [-y sys] [-d dir] [-c satid] [-o ofile] [-n nfile]

[-g gfile] [-h hfile] [-q qfile] [-s sfile] file

DESCRIPTION

ConvertRTCM,receiverrawdatalogandRINEXfiletoRINEXandSBAS/LEXmessagefile.SBASmessage

filecomplieswithRTKLIBSBAS/LEXmessageformat.Itsupportsthefollowingmessagesorfiles.

RTCM 2 : Type 1, 3, 9, 14, 16, 17, 18, 19, 22

RTCM 3 : Type 1002, 1004, 1005, 1006, 1010, 1012, 1019, 1020

Type 1071-1127 (MSM except for compact msg)

NovAtel OEMV/4/6,OEMStar: RANGECMPB, RANGEB, RAWEPHEMB, IONUTCB, RAWWASSFRAMEB

NovAtel OEM3 : RGEB, REGD, REPB, FRMB, IONB, UTCB

u-blox LEA-4T/5T/6T : RXM-RAW, RXM-SFRB

NovAtel Superstar II : ID#20, ID#21, ID#22, ID#23, ID#67

Hemisphere : BIN76, BIN80, BIN94, BIN95, BIN96

SkyTraq S1315F : msg0xDD, msg0xE0, msg0xDC

GW10 : msg0x08, msg0x03, msg0x27, msg0x20

Javad : [R*],[r*],[*R],[*r],[P*],[p*],[*P],[*p],[D*],[*d],

[E*],[*E],[F*],[TC],[GE],[NE],[EN],[QE],[UO],[IO],

[WD]

NVS : NVS NV08C BINR

BINEX : big-endian, regular CRC, forward record (0xE2)

0x01-01,0x01-02,0x01-03,0x01-04,0x01-06,0x7f-05

RINEX : OBS, NAV, GNAV, HNAV, LNAV, QNAV

OPTIONS

file input receiver binary log file

-ts y/m/d h:m:s start time [all]

-te y/m/d h:m:s end time [all]

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-tr y/m/d h:m:s approximated time for rtcm messages

-ti tint observation data interval (s) [all]

-r format log format type

rtcm2= RTCM 2

rtcm3= RTCM 3

nov = NovAtel OEMV/4/6,OEMStar

oem3 = NovAtel OEM3

ubx = ublox LEA-4T/5T/6T

ss2 = NovAtel Superstar II

hemis= Hemisphere Eclipse/Crescent

stq = SkyTraq S1315F

javad= Javad

nvs = NVS BINR

binex= BINEX

rinex= RINEX

-ro opt receiver options

-f freq number of frequencies [2]

-hc comment rinex header: comment line

-hm marker rinex header: marker name

-hn markno rinex header: marker number

-ht marktype rinex header: marker type

-ho observ rinex header: observer name and agency separated by /

-hr rec rinex header: receiver number, type and version separated by /

-ha ant rinex header: antenna number and type separated by /

-hp pos rinex header: approx position x/y/z separated by /

-hd delta rinex header: antenna delta h/e/n separated by /

-v ver rinex version [2.11]

-od include doppler frequency in rinex obs [off]

-os include snr in rinex obs [off]

-oi include iono correction in rinex nav header [off]

-ot include time correction in rinex nav header [off]

-ol include leap seconds in rinex nav header [off]

-x sat exclude satellite

-y sys exclude systems (G:GPS,R:GLO,E:Galileo,J:QZSS,S:SBAS,C:BeiDou)

-d dir output directory [same as input file]

-c staid use RINEX file name convention with staid [off]

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-o ofile output RINEX OBS file

-n nfile output RINEX NAV file

-g gfile output RINEX GNAV file

-h hfile output RINEX HNAV file

-q qfile output RINEX QNAV file

-l lfile output RINEX LNAV file

-s sfile output SBAS message file

Ifanyoutputfilespecified,defaultoutputfiles(<file>.obs, <file>.nav, <file>.gnav,

<file>.hnav, <file>.qnav, <file>.lnav and <file>.sbs)areused.

Ifreceivertypeisnotspecified,typeisrecognizedbytheinputfileextensionasfollows.



*.rtcm2 RTCM 2

*.rtcm3 RTCM 3

*.gps NovAtel OEMV/4/6,OEMStar

*.ubx u-blox LEA-4T/5T/6T

*.log NovAtel Superstar II

*.bin Hemisphere Eclipse/Crescent

*.stq SkyTraq S1315F

*.jps Javad

*.bnx,*binex BINEX

*.obs,*.*o RINEX OBS

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A.5 STR2STR



SYNOPSIS

str2str -in stream[#...] -out stream[#...] [-out stream[#...]...] [options]

DESCRIPTION

InputdatafromastreamanddivideandoutputthemtomultiplestreamsTheinputstreamcanbeserial,

TCPclient,TCPserver,NTRIPclient,orfile.Theoutputstreamcanbeserial,TCPclient,TCPserver,NTRIP

server,orfile.str2strisaresidenttypeapplication.Tostopit,typeCtrl‐Cinconsoleifrunforegroundor

sendsignalSIGINTforbackgroundprocess.ifrunforegroundorsendsignalSIGINTforbackground

process.ifbothoftheinputstreamandtheoutputstreamfollow#format,theformatofinputmessages

areconvertedtooutput.Tospecifytheoutputmessages,use-msgoption.

Commandoptionsareasfollows.

OPTIONS

-in stream[#format] input stream path and format

-out stream[#format] output stream path and format

stream path

serial : serial://port[:brate[:bsize[:parity[:stopb[:fctr]]]]]

tcp server : tcpsvr://:port

tcp client : tcpcli://addr[:port]

ntrip client : ntrip://[user[:passwd]@]addr[:port][/mntpnt]

ntrip server : ntrips://[:passwd@]addr[:port][/mntpnt[:str]] (only out)

file : [file://]path[::T][::+start][::xseppd][::S=swap]

format

rtcm2 : RTCM 2 (only in)

rtcm3 : RTCM 3 (in and out)

nov : NovAtel OEMV/4/6,OEMStar (only in)

oem3 : NovAtel OEM3 (only in)

ubx : ublox LEA-4T/5T/6T (only in)

ss2 : NovAtel Superstar II (only in)

hemis : Hemisphere Eclipse/Crescent (only in)

stq : SkyTraq S1315F (only in)

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javad : Javad (only in)

nvs : NVS BINR (only in)

binex : BINEX (only in)

-msg type[(tint)][,type[(tint)]...]

rtcm message types and output intervals (s)

-sta sta station id

-opt opt receiver dependent options

-s msec timeout time (ms) [10000]

-r msec reconnect interval (ms) [10000]

-n msec nmea request cycle (m) [0]

-f sec file swap margin (s) [30]

-c file receiver commands file [no]

-p lat lon hgt station position (latitude/longitude/height) (deg,m)

-l local_dir ftp/http local directory []

-x proxy_addr http/ntrip proxy address [no]

-t level trace level [0]

-h print help

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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

positioningsolutionfile.



NoRecord/FieldDescriptionNotes

1FileheaderThelinesstartingwithʺ%ʺareheaderlines.Theheaderlines

containssomeadditionalinformationorprocessingoptionsas

follows.

% program:programversion

% inp file:Inputfilepath

% obs start:ObservationdatastarttimeinGPStime

% obs end:ObservationdataendtimeinGPStime

% pos mode:Positioningmodeoption

% freqs:Frequenciesoption

% solution:Solutiontypeoption

% elev mask:Elevationmaskangleoption

% snr mask:SNRmaskoption

% ionos est:Ionosphericparameterestimationoption

% tropos est:Troposphericparametersestimationoption

% amb res:Integerambiguityresolutionoptions

% val thres:Integerambiguityvalidationoption

% ref pos:positionoftheantennaofthebasestation



2FieldindicatorFieldindicatorstartingwithʺ%ʺlinefollowsafterFileheader.

Torecognizethefieldformats,RTKLIBusestheselines.Donot

deletethem.



3SolutionbodySolutionbodyconsistsofthefollowingfields.

Thefieldcontentsarevariedaccordingtothepositioningoptions.



(1)TimeTheepochtimeofthesolutionindicatingthetruereceiversignal

receptiontime(notindicatesthetimebyreceiverclock).Theformat

isvariedtotheoptions.

yyyy/mm/dd HH:MM:SS.SSS :

CalendartimeinGPST,UTCorJST,thetimesystemisindicatedin

Fieldindicator

WWWW SSSSSSS.SSS :

GPSweekandTOW(timeofweek)inseconds.



(2)Receiver

Position

Theroverreceiveantennaormarkerpositionestimatedvaried

accordingtothepositioningoptions.



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NoRecord/FieldDescriptionNotes

+ddd.ddddddddd +ddd.dddddddd hhhh.hhhh:

Latitude,longitudeindegreesandheightinm.Minusvaluemeans

southlatitudeorwestlongitude.Theheightindicatesellipsoidalor

geodeticaccordingtothepositioningoptions.



+ddd mm ss.sss +ddd mm ss.sss hhhh.hhhh:

Latitude,longitudeindegree,minuteandsecondandheightinm.



+xxxxxxxxx.xxxx +yyyyyyyyy.yyyy +zzzzzzzz.zzzz:

X/Y/ZcomponentsofECEFframeinm.

+eeeeeeeee.eeee +nnnnnnnnn.nnnn +uuuuuuuuu.uuuu:

E/N/Ucomponentsofbaselinevectorinm.Thelocalcoordinateis

referencedtotheroverposition.

(3)Qualityflag

(Q)

Theflagwhichindicatesthesolutionquality.

1:Fixed,solutionbycarrier‐basedrelativepositioningandthe

integerambiguityisproperlyresolved.

2:Float,solutionbycarrier‐basedrelativepositioningbutthe

integerambiguityisnotresolved.

3:Reserved

4:DGPS,solutionbycode‐basedDGPSsolutionsorsinglepoint

positioningwithSBAScorrections

5:Single,solutionbysinglepointpositioning



(4)Numberof

validsatellites

(ns)

Thenumberofvalidsatellitesforsolutionestimation.

(5)Standard

deviations

(sdn,sde,sdu,

sdne,sdeu,

sdun)

Theestimatedstandarddeviationsofthesolutionassumingapriori

errormodelanderrorparametersbythepositioningoptions.

Thesdn,sdeorsdumeansN(north),E(east)orU(up)

componentofthestandarddeviationsinm.Theabsolutevalueof

sdne,sdeuorsdunmeanssquarerootoftheabsolutevalueofNE,

EUorUNcomponentoftheestimatedcovariancematrix.Thesign

representsthesignofthecovariance.Withallofthevalues,usercan

reconstructthefullcovariancematrix.



(6)Ageof

differential

(age)

Thetimedifferencebetweentheobservationdataepochsofthe

roverreceiverandthebasestationinsecond.



(7)Ratiofactor

(ratio)

Theratiofactorofʺratio‐testʺforstandardintegerambiguity

validationstrategy.Thevaluemeanstheratioofthesquaredsumof

theresidualswiththesecondbestintegervectortowiththebest

integervector.



EXAMPLE

% program : RTKLIB ver.2.3.0b

% inp file : G:\rtklibtest\20090831\omre196a.09o

% inp file : G:\rtklibtest\20090831\tevc196a.09o

% inp file : G:\rtklibtest\20090831\omre196a.09n

% obs start : 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 : kinematic

% freqs : L1+L2

RTKLIBver.2.4.2Manual

103

% solution : forward

% elev mask : 15.0 deg

% snr mask : 0.0 dBHz

% ionos est : on

% tropo est : on

% amb res : continuous

% val thres : 3.0

% ref pos : 32.574831620 -117.126551777 -28.1471

% (lat/lon/height=WGS84/ellipsoidal,Q=1:fix,2:float,4:dgps,5:single,ns=# of satellites)

% GPST latitude(deg) longitude(deg) height(m) Q ns sdn(m) sde(m)

sdu(m) sdne(m) sdeu(m) sdun(m) age(s) ratio

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

RTKLIBver.2.4.2Manual

104

B.2 SBAS Log File



DESCRIPTION

ASBASlogfileisoutputofRTKCONV,thatisatextfileinwhichalinecontainsaSBASmessagecaptured

bytheGPS/GNSSreceiver.ThefollowingtableshowstheformatoftheSBASlogfile.



NoRecord/FieldDescriptionNotes

1SBAS

messages

AlinecontainsaSBASnavigationdataframe,whichconsistsofthe

followingfields.



(1)GPSweek

number

GPSweeknumberofSBASnavigationdataframe.

(2)TimeofweekTimeofweekofSBASnavigationdataframeinseconds.



(3)PRNnumberPRNnumberofSBASsatellitetransmittingthenavigationdata



(4)MessagetypeThetypeIDoftheSBASmessageintheframe(0‐63).ReferSBAS

specificationsfordetails:

RTCA/DO‐229C,Minimumoperationalperformancestandardsfor

GlobalPositioningSystem/WideAreaAugmentationsystem

airborneequipment



(5)Separator





(6)SBASmessageHexadecimaldumpofa226‐bitSBASmessagewithout24‐bit

parityfield.Themessagetailis0‐paddedtoalignto8‐bitboundary.

ReferSBASspecificationsforthedetailedmessageformat.



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

RTKLIBver.2.4.2Manual

105

1471 349019 137 26 : C66A0431E17E0A704741F80DC05E827815C0EF09F877C2FC15E096E000

1471 349020 137 4 : 53119FFC001FFDFFDFFDFFFF9C001FFDFFDFFDFFDFFF9BBBBB33FFFFC0

1471 349020 129 4 : 53129FFFFF5FFDFFDFFDFFFFC3FA9FFDFFDFFDFFDFFF9BBBBB33FFFFC0

RTKLIBver.2.4.2Manual

106

B.3 Solution Status File



DESCRIPTION

AsolutionstatusfileisoutputofRTKNAVIorRTKPOST,thatisatextfilewhichcontainstheinternalstatus

ofthepositioningprocess.TheinternalstatusincludeestimatedstatesofKalmanfilterandresidualsof

measurementstoanalyzethesolutionquality.Thefollowingtableshowstheformatofthesolutionstatus

file.



NoRecord/FieldDescriptionNotes

1PositionStates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:gpsweekno/timeofweek(s)

stat:solutionstatus

posx/posy/posz:positionx/y/zecef(m)float

posxf/posyf/poszf:positionx/y/zecef(m)fixed



2Velocity/

Acceleration

States

Estimatedrovervelocityandaccelerationinthefilter.Theformatof

arecordisasfollows.



$VELACC,week,tow,stat,vele,veln,velu,acce,accn,accu,velef,velnf,\

veluf,accef,accnf,accuf

week/tow:gpsweekno/timeofweek(s)

stat:solutionstatus

vele/veln/velu:velocitye/n/u(m/s)float

acce/accn/accu:acceleratione/n/u(m/s^2)float

velef/velnf/veluf:velocitye/n/u(m/s)fixed

accef/accnf/accuf:acceleratione/n/u(m/s^2)fixed



3Receiver

Clock‐bias

States

Estimatedreceiverclockbiasparameters.Theformatofarecordis

asfollows.



$CLK,week,tow,stat,rcv,clk1,clk2,clk3,clk4

week/tow:gpsweekno/timeofweek(s)

stat:solutionstatus

rcv:receiver(1:rover,2:basestation)

clk1:receiverclockbiasGPS(ns)

clk2:receiverclockbiasGLONASS(ns)

clk3:reserved

clk4:reserved



4Ionosphere

Parameter

States

Estimatedionosphereparameter(verticalL1ionospheredelay

difference).Theformatofarecordisasfollows.



$ION,week,tow,stat,sat,az,el,ion,ion‐fixed

week/tow:gpsweekno/timeofweek(s)

stat:solutionstatus

sat:satelliteid



RTKLIBver.2.4.2Manual

107

NoRecord/FieldDescriptionNotes

az/el:azimuth/elevationangle(deg)

ion:verticalionosphericdelayL1(m)float

ion‐fixed:verticalionosphericdelayL1(m)fixed

5Troposphere

Parameter

States

Estimatedtroposphereparameter(verticaltropospheredelay

residual).Theformatofarecordisasfollows.



$TROP,week,tow,stat,rcv,ztd,ztdf

week/tow:gpsweekno/timeofweek(s)

stat:solutionstatus

rcv:receiver(1:rover,2:basestation)

ztd:zenithtotaldelay(m)float

ztdf:zenithtotaldelay(m)fixed



6ReceiverH/W

biasStates

EstimatedGLONASSreceiverH/Wbiasdifference.Theformatofa

recordisasfollows.



$HWBIAS,week,tow,stat,frq,bias,biasf

week/tow:gpsweekno/timeofweek(s)

stat:solutionstatus

frq:frequency(1:L1,2:L2,3:L5,...)

bias:h/wbiascoefficient(m/MHz)float

biasf:h/wbiascoefficient(m/MHz)fixed



7ResidualsResidualsofpseudorangeandcarrier‐phaseobservables.The

formatofarecordisasfollows.



$SAT,week,tow,sat,frq,az,el,resp,resc,vsat,snr,fix,slip,lock,outc,\

slipc,rejc

week/tow:gpsweekno/timeofweek(s)

sat/frq:satelliteid/frequency(1:L1,2:L2,3:L5,...)

az/el:azimuth/elevationangle(deg)

resp:pseudorangeresidual(m)

resc:carrier‐phaseresidual(m)

vsat:validdataflag(0:invalid,1:valid)

snr:signalstrength(dbHz)

fix:ambiguityflag(0:nodata,1:float,2:fixed,3:hold)

slip:cycle‐slipflag(bit1:slip,bit2:parityunknown)

lock:carrier‐lockcount

outc:dataoutagecount

slipc:cycle‐slipcount

rejc:datareject(outlier)count



EXAMPLE

$POS,1557,432000.000,2,-3869295.9628,3436570.2567,3717367.6546,0.0000,0.0000,0.0000

$HWBIAS,1557,432000.000,2,1,-0.3503,0.0000

$HWBIAS,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

RTKLIBver.2.4.2Manual

108

$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

RTKLIBver.2.4.2Manual

109

B.4 Configuration File



DESCRIPTION

Aconfigurationfilecontainingprocessingoptions,solutionoptionsandfileoptionsforRTKNAVI,

RTKPOST,RTKRCVandRNX2RTKP.ThatisatextfilewhichcontainstheKeyword = Valueformrecords

indicatingthevariousoptions.Forenumerationvalues,theselectablevalueiseitherofanumber(0,1,2,...)

oranenumerationlabel(off,on,...).Thelinestartingwith#andthetextsafter#inalinearetreatedas

comments.Forthecontentsoftheconfigurationfile,refer3.5ConfigurePositioningOptionsforRTKNAVI

andRTKPOST.

EXAMPLE

# RTKNAVI options (2013/03/01 10:41:04, v.2.4.2)

pos1-posmode =single #

(0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)

pos1-frequency =l1+l2 # (1:l1,2:l1+l2,3:l1+l2+l5)

pos1-soltype =forward # (0:forward,1:backward,2:combined)

pos1-elmask =10 # (deg)

pos1-snrmask_r =off # (0:off,1:on)

pos1-snrmask_b =off # (0:off,1:on)

pos1-snrmask_L1 =0,0,0,0,0,0,0,0,0

pos1-snrmask_L2 =0,0,0,0,0,0,0,0,0

pos1-snrmask_L5 =0,0,0,0,0,0,0,0,0

pos1-dynamics =off # (0:off,1:on)

pos1-tidecorr =off # (0:off,1:on)

pos1-ionoopt =brdc #

(0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9

:vtec_ef,10:gtec)

pos1-tropopt =saas # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)

pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)

pos1-posopt1 =on # (0:off,1:on)

pos1-posopt2 =on # (0:off,1:on)

pos1-posopt3 =on # (0:off,1:on)

pos1-posopt4 =on # (0:off,1:on)

pos1-posopt5 =off # (0:off,1:on)

pos1-exclsats = # (prn ...)

pos1-navsys =63 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)

pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)

pos2-gloarmode =off # (0:off,1:on,2:autocal)

pos2-arthres =3

pos2-arlockcnt =0

pos2-arelmask =20 # (deg)

pos2-arminfix =0

pos2-elmaskhold =0 # (deg)

pos2-aroutcnt =5

pos2-maxage =30 # (s)

pos2-slipthres =0.05 # (m)

pos2-rejionno =30 # (m)

pos2-rejgdop =30

pos2-niter =1

pos2-baselen =0 # (m)

pos2-basesig =0 # (m)

out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)

out-outhead =off # (0:off,1:on)

out-outopt =off # (0:off,1:on)

out-timesys =gpst # (0:gpst,1:utc,2:jst)

out-timeform =hms # (0:tow,1:hms)

RTKLIBver.2.4.2Manual

110

out-timendec =3

out-degform =deg # (0:deg,1:dms)

out-fieldsep =

out-height =geodetic # (0:ellipsoidal,1:geodetic)

out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)

out-solstatic =all # (0:all,1:single)

out-nmeaintv1 =1 # (s)

out-nmeaintv2 =1 # (s)

out-outstat =off # (0:off,1:state,2:residual)

stats-eratio1 =300

stats-eratio2 =300

stats-errphase =0.003 # (m)

stats-errphaseel =0.003 # (m)

stats-errphasebl =0 # (m/10km)

stats-errdoppler =1 # (Hz)

stats-stdbias =30 # (m)

stats-stdiono =0.03 # (m)

stats-stdtrop =0.3 # (m)

stats-prnaccelh =10 # (m/s^2)

stats-prnaccelv =10 # (m/s^2)

stats-prnbias =0.0001 # (m)

stats-prniono =0.001 # (m)

stats-prntrop =0.0001 # (m)

stats-clkstab =5e-12 # (s/s)

ant1-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)

ant1-pos1 =90 # (deg|m)

ant1-pos2 =0 # (deg|m)

ant1-pos3 =-6335367.6285 # (m|m)

ant1-anttype =NOV702GG

ant1-antdele =0 # (m)

ant1-antdeln =0 # (m)

ant1-antdelu =0 # (m)

ant2-postype =rtcm # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)

ant2-pos1 =0 # (deg|m)

ant2-pos2 =0 # (deg|m)

ant2-pos3 =0 # (m|m)

ant2-anttype =TRM29659.00

ant2-antdele =0 # (m)

ant2-antdeln =0 # (m)

ant2-antdelu =0 # (m)

misc-timeinterp =off # (0:off,1:on)

misc-sbasatsel =0 # (0:all)

misc-rnxopt1 =

misc-rnxopt2 =

file-satantfile =Y:\madoca\data\igs08.atx

file-rcvantfile =Y:\madoca\data\igs08.atx

file-staposfile =

file-geoidfile =

file-ionofile =

file-dcbfile =Y:\madoca\data\dcb\P1P21201.DCB

file-eopfile =

file-blqfile =

file-tempdir =C:\Temp

file-geexefile =

file-solstatfile =

file-tracefile =

inpstr1-type =ntripcli #

(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)

inpstr2-type =off #

(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)

inpstr3-type =off #

(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)

inpstr1-path =kaiyodai:tuomsat00@mgex.igs-ip.net:2101/CUT07:

inpstr2-path =

inpstr3-path =

inpstr1-format =rtcm3 #

(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)

inpstr2-format =rtcm3 #

(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)

inpstr3-format =rtcm3 #

(0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)

RTKLIBver.2.4.2Manual

111

inpstr2-nmeareq =off # (0:off,1:latlon,2:single)

inpstr2-nmealat =26.37293571 # (deg)

inpstr2-nmealon =127.143649075 # (deg)

outstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)

outstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)

outstr1-path =

outstr2-path =

outstr1-format =llh # (0:llh,1:xyz,2:enu,3:nmea)

outstr2-format =nmea # (0:llh,1:xyz,2:enu,3:nmea)

logstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)

logstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)

logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)

logstr1-path =

logstr2-path =

logstr3-path =

misc-svrcycle =10 # (ms)

misc-timeout =30000 # (ms)

misc-reconnect =10000 # (ms)

misc-nmeacycle =5000 # (ms)

misc-buffsize =32768 # (bytes)

misc-navmsgsel =all # (0:all,1:rover,2:base,3:corr)

misc-proxyaddr =

misc-fswapmargin =30 # (s)



RTKLIBver.2.4.2Manual

112

B.5 URL List File for GNSS Data



DESCRIPTION

AfilecontainingURLlistofGNSSdatainInternetresources.ThefileisusedbyRTKGETtodownload

GNSSdata.AlineindicatesarecordofURLforaGNSSdatatype.Thestringsafter#aretreatedas

comments.ThefollowingtableshowstheformatoftheURLlistfileforGNSSdata.



NoRecord/FieldDescriptionNotes

1URLAlinecontainsaURLforaGNSSdatatype,whichconsistsofthe

followingfieldsseparatedbyspaces.



(1)DatatypeGNSSdatatypeID.TheIDdoesnotcontainspaces.Under‐barʺ_ʺ

inthedatatypeIDmeanstheseparatorofeachdatatypecategory.



(2)URLaddressURLaddressoftheGNSSdatatype.TheURLaddressshallbe:



ftp://<host address>/<file path> or

http://<host address>/<file path>



ftp, http :useddownloadprotocol

<host address>:addressofthehost

<file path> :downloadfilepathinthehost.thefilepathcan

containthefollowingkeywordsreplacedbydate,time,station

nameandenvironmentvariable.



%Y -> yyyy : year (4 digits) (2000-2099)

%y -> yy : year (2 digits) (00-99)

%m -> mm : month (01-12)

%d -> dd : day of month (01-31)

%h -> hh : hours (00-23)

%H -> a : hour code (a-x)

%M -> mm : minutes (00-59)

%n -> ddd : day of year (001-366)

%W -> wwww : gps week (0001-9999)

%D -> d : day of gps week (0-6)

%N -> d : sequence number (0- )

%s -> ssss : station name (lower-case)

%S -> SSSS : station name (upper-case)

%r -> rrrr : station name

%{env} -> env : environment variable



(3)Defaultlocal

directory

IfthelocaldirectoryisnotspecifiedinRTKGET,thedownloaded

filesaresavedinthedirectory.Thedirectorypathcancontain

keywordassameasURLaddress.



RTKLIBver.2.4.2Manual

113

EXAMPLE

#--------------------------------------------------------------------------------------

# data type url Address default local dir

#--------------------------------------------------------------------------------------

#! PRODUCT (CDDIS)

IGS_EPH ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W%D.sp3.Z c:\product\%W

IGS_EPH_GLO ftp://cddis.gsfc.nasa.gov/gps/products/%W/igl%W%D.sp3.Z c:\product\%W

IGS_CLK ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W%D.clk.Z c:\product\%W

IGS_CLK_30S ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W%D.clk_30s.Z c:\product\%W

IGS_ERP ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W7.erp.Z c:\product\%W

IGR_EPH ftp://cddis.gsfc.nasa.gov/gps/products/%W/igr%W%D.sp3.Z c:\product\%W

IGR_CLK ftp://cddis.gsfc.nasa.gov/gps/products/%W/igr%W%D.clk.Z c:\product\%W

IGR_ERP ftp://cddis.gsfc.nasa.gov/gps/products/%W/igr%W%D.erp.Z c:\product\%W

IGU_EPH ftp://cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%h.sp3.Z c:\product\%W

IGU_ERP ftp://cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%h.erp.Z c:\product\%W

IGS_POS ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%yP%W.snx.Z c:\product\%W

IGS_TEC ftp://cddis.gsfc.nasa.gov/gps/products/ionex/%Y/%n/igsg%n0.%yi.Z c:\product\%W

IGR_TEC ftp://cddis.gsfc.nasa.gov/gps/products/ionex/%Y/%n/igrg%n0.%yi.Z c:\product\%W

...

RTKLIBver.2.4.2Manual

114

Appendix C API References



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<install

dir>\rtklib_<ver>\src.ThedefinitionofdatatypesregardingtotheAPIs,refertheheaderfile

rtklib.hin<install dir>\rtklib_<ver>\src.

ThedetailedspecificationsandsomeexamplesofAPIusageswillbealsoprovidedasRTKLIBAPI

ReferenceManual.



TableC‐1RTKLIBAPIfunctionList(*:addedinver.2.4.2, **:modifiedinver.2.4.2)

FunctionDescriptionSourceProgram

Satellitenumber/systemfunctions

satno() SatellitesystemandPRN/slotnumbertosatellitenumber rtkcmn.c

satsys() Satellitenumbertosatellitesystemrtkcmn.c

satid2no() SatelliteIDtosatellitenumberrtkcmn.c

satno2id() SatellitenumbertosatelliteID rtkcmn.c

obs2code() Observationtypestringtoobservationcode rtkcmn.c **

code2obs() Observationcodetoobservationcodestring rtkcmn.c **

satexclude() Testexcludedsatellitesrtkcmn.c *

testsnr() TestSNRmaskrtkcmn.c *

setcodepri() Setcodepriorityformultiplecodesrtkcmn.c *

getcodepri() Getcodepriorityformultiplecodesrtkcmn.c *

Matrixandvectorfunctions

mat() Newmatrixrtkcmn.c

imat() Newintegermatrixrtkcmn.c

zeros() Newzeromatrixrtkcmn.c

eye() Newidentitymatrixrtkcmn.c

dot() InnerProductrtkcmn.c

norm() Euclidnormrtkcmn.c

cross3() Outerproductof3Dvectorsrtkcmn.c

normv3() Normalize3Dvectorrtkcmn.c

matcpy() Copymatrixrtkcmn.c

matmul() Multiplymatrixrtkcmn.c

matinv() Inverseofmatrixrtkcmn.c

solve() Solvelinearequationrtkcmn.c

lsq() Leastsquareestimationrtkcmn.c

filter() Kalmanfilterstateupdatertkcmn.c

smoother() Kalmansmoother rtkcmn.c

matprint() Printmatrixrtkcmn.c

matfprint() Printmatrixtofilertkcmn.c

Timeandstringfunctions

RTKLIBver.2.4.2Manual

115

FunctionDescriptionSourceProgram

str2num() Stringtonumberrtkcmn.c

str2time() Stringtotimertkcmn.c

time2str() Timetostringrtkcmn.c

epoch2time() Calendarday/timetotimertkcmn.c

time2epoch() Timetocalendarday/timertkcmn.c

gpst2time() GPSweek/TOWtotimertkcmn.c

time2gpst() TimetoGPSweek/TOWrtkcmn.c

gst2time() GSTweek/TOWtotimertkcmn.c

time2gst() TimetoGSTweek/TOWrtkcmn.c

bdt2time() BDTweek/TOWtotimertkcmn.c *

time2bdt() TimetoBDTweek/TOWrtkcmn.c *

time_str() GetTimeStringrtkcmn.c

timeadd() Addtimertkcmn.c

timediff() Timedifferencertkcmn.c

gpst2utc() GPSTimetoUTCrtkcmn.c

utc2gpst() UTCtoGPSTimertkcmn.c

gpst2bdt() GPSTimetoBDTrtkcmn.c *

bdt2gpst() BDTtoGPSTimertkcmn.c *

timeget() GetcurrenttimeinUTCrtkcmn.c

timeset() SetcurrenttimeinUTCrtkcmn.c

time2doy() TimetoDayofYearrtkcmn.c

utc2gmst() UTCtoGreenwichMeanSiderealTimertkcmn.c *

adjgpsweek() AdjustGPSweeknumberrtkcmn.c

tickget() Getcurrentticktimertkcmn.c

sleepms() Sleepformillisecondsrtkcmn.c

reppath() Replacefilepathrtkcmn.c

reppaths() Replacefilepathsrtkcmn.c

Coordinatesfunctions

ecef2pos() ECEFtogeodeticpositionrtkcmn.c

pos2ecef() GeodetictoECEFpositionrtkcmn.c

ecef2enu() ECEFtolocalcoordinatesrtkcmn.c

enu2ecef() LocaltoECEFcoordinatesrtkcmn.c

covenu() Covarianceinlocalcoordinatesrtkcmn.c

covecef() CovarianceinECEFcoordinatesrtkcmn.c

xyz2enu() ECEFtoENUlocalcoordinatetransformationmatrixrtkcmn.c

eci2ecef() ECItoECEFtransformationmatrixrtkcmn.c **

deg2dms() Convertdegreetodeg‐min‐secrtkcmn.c

dms2deg() Convertdeg‐min‐sectodegreertkcmn.c

Input/outputfunctions

readpos() Readstationpositionsrtkcmn.c

sortobs() Sortobservationdatartkcmn.c

uniqnav() Deleteduplicatedephemeridesinnavigationdatartkcmn.c

screent() Screendatabytimeandintervalrtkcmn.c

readnav() Readnavigationdatafromfilertkcmn.c

savenav() Savenavigationdatatofilertkcmn.c

freeobs() Freememoryforobservationdatartkcmn.c

freenav() Freememoryfornavigationdatartkcmn.c

Debugtracefunctions

RTKLIBver.2.4.2Manual

116

FunctionDescriptionSourceProgram

traceopen() Opentracefilertkcmn.c

traceclose() Closetracefilertkcmn.c

trace() Outputtracertkcmn.c

tracet() Outputtracewithtimetagrtkcmn.c

tracemat() Outputtraceasmatrixprintingrtkcmn.c

traceobs() Outputtraceasobservationdataprintingrtkcmn.c

traceonav() OutputtraceasGPSnavigationmessagesrtkcmn.c

tracegnav() OutputtraceasGLONASSnavigationmessagesrtkcmn.c

tracehnav() OutputtraceasGEOnavigationmessagesrtkcmn.c

tracepeph() Outputtraceaspreciseephemerisrtkcmn.c

tracepclk() Outputtraceaspreciseclockrtkcmn.c

traceb() Outputtraceasbinarydumprtkcmn.c

Platformdependentfunctions

execcmd() Executecommandrtkcmn.c

expath() Expandfilepathrtkcmn.c

createdir() Createdirectoryrtkcmn.c

Positioningmodels

satwavelen() Satellitesignalcarrierwavelengthrtkcmn.c

satazel() Satelliteazimuth/elevationanglertkcmn.c

geodist() Geometricdistancertkcmn.c

dops() ComputeDOPsrtkcmn.c

csmooth() Carriersmoothingrtkcmn.c

Atmospheremodels

ionmodel() Ionosphericmodelrtkcmn.c

ionmapf() Ionosphericmappingfunctionrtkcmn.c

ionppp() Ionosphericpiercepointpositionrtkcmn.c

tropmodel() Troposphericmodelrtkcmn.c

tropmapf() Troposphericmappingfunctionrtkcmn.c

iontec() IonospheremodelbyTECgriddataionex.c

readtec() ReadIONEXTECgridfileionex.c

ionocorr() Ionospherecorrectionpntpos.c

tropcorr() Tropospherecorrectionpntpos.c

Antennamodels

readpcv() Readantennaparametersrtkcmn.c

searchpcv() Searchantennaparametersrtkcmn.c

antmodel() Receiverantennamodelrtkcmn.c **

antmodel_s() Satelliteantennamodelrtkcmn.c

Earthtidesmodels

sunmoonpos() Sunandmoonpositionrtkcmn.c **

tidedisp() Displacementsbyearthtidesppp.c

Geoidmodel

opengeoid() Openexternalgeoidfilegeoid.c

closegeoid() Closeexternalgeoidfilegeoid.c

geoidh() Geoidheightgeoid.c

Datumtransformation

loaddatump() Loaddatumtransformationparameterdatum.c

RTKLIBver.2.4.2Manual

117

FunctionDescriptionSourceProgram

tokyo2jgd() TokyodatumtoJGD2000datumdatum.c

jgd2tokyo() JGD2000datumtoTokyodatumdatum.c

RINEXfunctions

readrnx() ReadRINEXfilerinex.c **

readrnxt() ReadRINEXfileintimerange/intervalrinex.c **

readrnxc() ReadRINEXclockfilerinex.c

outrnxobsh() OutputRINEXOBSheaderrinex.c **

outrnxobsb() OutputRINEXOBSbodyrinex.c

outrnxnavh() OutputRINEXNAVheaderrinex.c

outrnxgnavh() OutputRINEXGLONASSNAVheaderrinex.c

outrnxhnavh() OutputRINEXGEONAVheaderrinex.c

outrnxlnavh() OutputRINEXGalileoNAVheaderrinex.c

outrnxqnavh() OutputRINEXQZSSNAVheaderrinex.c

outrnxcnavh() OutputRINEXBeiDouNAVheaderrinex.c *

outrnxnavb() OutputRINEXNAVbodyrinex.c

outrnxgnavb() OutputRINEXGLONASSNAVbodyrinex.c

outrnxhnavb() OutputRINEXGEONAVbodyrinex.c

uncompress() Uncompressfilerinex.c

init_rnxctr() InitializeRINEXcontrolrinex.c *

free_rnxctr() FreeRINEXcontrolrinex.c *

open_rnxctr() OpenRINEXcontrolrinex.c *

input_rnxctr() InputnextRINEXdatabyRINEXcontrolrinex.c *

convrnx() RINEXconverterconvrnx.c

Ephemerisfunctions

eph2clk() Broadcastephemeristosatelliteclock‐biasephemeris.c

geph2clk() GLONASSephemeristosatelliteclock‐biasephemeris.c

seph2clk() GEOephemeristosatelliteclock‐biasephemeris.c

eph2pos() Broadcastephemeristosatelliteposition/clock‐biasephemeris.c

geph2pos() GLONASSephemeristosatelliteposition/clock‐biasephemeris.c

seph2pos() GEOephemeristosatelliteposition/clock‐biasephemeris.c

peph2pos() Preciseephemeristosatelliteposition/clock‐biaspreceph.c

satantoff() Satelliteantennaphasecenteroffsetephemeris.c

satpos() Satelliteposition/clock‐biasephemeris.c

satposs() Satellitepositions/clock‐biasesephemeris.c

readsp3() ReadSP3filepreceph.c **

readsap() Readsatelliteantennaphasecenterparameterspreceph.c

readdcb() ReadDCBparameterspreceph.c

alm2pos() Almanactosatelliteposition/clock‐biaspreceph.c

tle_read() ReadTLEdatafiletle.c *

tle_name_read() ReadTLEsatellitenamefiletle.c *

tle_pos() SatellitepositionandvelocitywithTLEdatatle.c *

Receiverrawdatafunctions

getbitu() Extractunsignedbits rtkcmn.c

getbits() Extractsignedbits rtkcmn.c

setbitu() Setunsignedbits rtkcmn.c *

setbits() Setsignedbits rtkcmn.c *

crc32() CRC32parityrtkcmn.c

crc24q() CRC24Qparityrtkcmn.c

RTKLIBver.2.4.2Manual

118

FunctionDescriptionSourceProgram

crc16() CRC16parityrtkcmn.c *

decode_word() Decodenavigationdataword rcvraw.c

decode_frame() Decodenavigationdataframe rcvraw.c

init_raw() Initializereceiverrawdatacontrol rcvraw.c

free_raw() Freereceiverrawdatacontrol rcvraw.c

input_raw() Inputreceiverrawdatafromstream rcvraw.c

input_rawf() Inputreceiverrawdatafromfile rcvraw.c

Receiverdependentfunctions

input_oem4() InputOEM4/Vrawdatafromstream rcv/novatel.c

input_oem3() InputOEM3rawdatafromstreamrcv/novatel.c

input_ubx() Inputu‐bloxrawdatafromstreamrcv/ublox.c

input_ss2() InputSuperstarIIrawdatafromstreamrcv/ss2.c

input_cres() InputCrescentrawdatafromstreamrcv/crescent.c

input_stq() InputSkyTraqrawdatafromstreamrcv/skytraq.c

input_gw10() InputFurunoGW‐10‐II/IIIrawdatafromstreamrcv/gw10.c

input_javad() InputJAVADGRIL/GREISrawdatafromstreamrcv/javad.c

input_nvs() InputNVSBINRrawdatafromstreamrcv/nvs.c *

input_binex() InputBINEXdatafromstreamrcv/binex.c *

input_oem3f() InputOEM3rawdatafromfilercv/novatel.c

input_oem4f() InputOEM4/Vrawdatafromfilercv/novatel.c

input_ubxf() Inputu‐bloxrawdatafromfilercv/ublox.c

input_ss2f() InputSuperstarIIrawdatafromfilercv/ss2.c

input_cresf() InputCrescentrawdatafromfilercv/crescent.c

input_stqf() InputSkyTraqrawdatafromfilercv/skytraq.c

input_gw10f() InputFurunoGW‐10‐II/IIIrawdatafromfilercv/gw10.c

input_javadf() InputJAVADGRIL/GREISrawdatafromfilercv/javad.c

input_nvsf() InputNVSBINRrawdatafromfilercv/nvs.c *

input_binexf() InputBINEXdatafromfilercv/binex.c *

gen_ubx() Generateu‐bloxbinarycommandrcv/ublox.c

gen_stq() GenerateSkyTraqbinarycommandrcv/skytraq.c

gen_nvs() GenerateNVSBINRbinarycommandrcv/nvs.c *

RTCMfunctions

init_rtcm() InitializeRTCMcontrolrtcm.c

free_rtcm() FreeRTCMcontrolrtcm.c

input_rtcm2() InputRTCM2messagefromstream rtcm.c

input_rtcm3() InputRTCM3messagefromstream rtcm.c

input_rtcm2f() InputRTCM2messagefromfile rtcm.c

input_rtcm3f() InputRTCM3messagefromfile rtcm.c

gen_rtcm2() GenerateRTCM2message rtcm.c *

gen_rtcm3() GenerateRTCM3message rtcm.c *

Solutionfunctions

initsolbuf() Initializesolutionbuffersolution.c

freesolbuf() Freesolutionbuffersolution.c

freesolstatbuf() Freesolutionstatusbuffersolution.c

getsol() Getsolutiondatafromsolutionbuffersolution.c

addsol() Addsolutiondatatosolutionbuffersolution.c

readsol() Readsolutiondatafromsolutionsfilessolution.c

readsolt() Readsolutiondataintimerange/intervalsolution.c

readsolstat() Readsolutionstatusfromfilesolution.c

RTKLIBver.2.4.2Manual

119

FunctionDescriptionSourceProgram

readsolstatt() Readsolutionstatusintimerange/intervalsolution.c

inputsol() Inputsolutiondatafromstreamsolution.c

outprcopts() Outputprocessingoptionstostringsolution.c

outsolheads() Outputsolutionheadertostringsolution.c

outsols() Outputsolutionbodytostringsolution.c

outsolexs() Outputextendedsolutiontostringsolution.c

outprcopt() Outputprocessingoptionstofilesolution.c

outsolhead() Outputsolutionheadertofilesolution.c

outsol() Outputsolutionbodytofilesolution.c

outsolex() Outputextendedsolutiontofilesolution.c

outnmea_rmc() OutputNMEAGPRMCsentencesolution.c

outnmea_gga() OutputNMEAGPGGAsentencesolution.c

outnmea_gsa() OutputNMEAGPGSA,GLGSA,GAGSAsentencessolution.c

outnmea_gsv() OutputNMEAGPGSV,GLGSV,GAGSVsentencessolution.c

ConvertsolutionstoGoogleEarthKMLfile

convkml() ConvertsolutionstoGoogleEarthKMLfileconvkml.c

SBASfunctions

sbsreadmsg() ReadSBASmessagefilesbas.c

sbsreadsmgt() ReadSBASmessagefileintimerangesbas.c

sbsoutmsg() OutputSBASmessagessbas.c

sbsdecodemsg() DecodeSBASmessagesbas.c

sbsupdatecorr() UpdateSBAScorrectionssbas.c

sbssatcorr() SBASsatellitecorrectionsbas.c

sbsioncorr() SBASionosphericcorrectionsbas.c

sbstropcorr() SBAStroposphericcorrectionsbas.c

Optionsfunctions

searchopt() Searchoptionoptions.c

str2opt() Stringtooptionvalueoptions.c

opt2str() Optionvaluetostringoptions.c

opt2buf() Optiontostringoptions.c

loadopts() Loadoptionsfromfileoptions.c

saveopts() Saveoptionstofileoptions.c

resetsysopts() Resetsystemoptionstodefaultoptions.c

getsysopts() Getsystemoptionsoptions.c

setsysopts() Setsystemoptionsoptions.c

Streamdatainput/outputfunctions

strinitcom() Initializestreamcommunicationenvironmentstream.c

strinit() Initializestreamstream.c

strlock() Lockstreamstream.c

strunlock() Unlockstreamstream.c

stropen() Openstreamstream.c

strclose() Closestreamstream.c

strread() Readstreamstream.c

strwrite() Writestreamstream.c

strsync() Timesyncstreamstream.c

strstat() Getstreamstatusstream.c

strsum() Getstreamstatisticssummarystream.c

strsetopt() Setstreamoptionsstream.c

RTKLIBver.2.4.2Manual

120

FunctionDescriptionSourceProgram

strgettime() Getcurrenttimefromstreamstream.c

strsendnmea() SendNMEAmessagetostreamstream.c

strsendcmd() Sendreceivercommandtostreamstream.c

strsettimeout() Setstreamtimeoutparametersstream.c

strsetdir() Setlocaldirectorystream.c

strsetproxy() Setproxyaddressstream.c

Integerambiguityresolution

lambda() LAMBDA/MLAMBDAintegerleast‐squareestimationlambda.c

Standardpositioning

pntpos() Standardpositioningpntpos.c

Precisepositioning

rtkinit() InitializeRTKcontrolstructrtkpos.c

rtkfree() FreeRTKcontrolstructrtkpos.c

rtkpos() Precisepositioningrtkpos.c

rtkopenstat() Opensolutionstatusfilertkpos.c

rtkclosestat() Closesolutionstatusfilertkpos.c

Precisepointpositioning

pppos() Precisepointpositioning(PPP)ppp.c *

pppnx() NumberofestimatedstatesforPPPppp.c *

pppoutsolstat() OutputsolutionstatisticsforPPPppp.c *

windupcorr() Phasewindupcorrectionrtkcmn.c *

pppamb() ResolveintegerambiguityforPPPppp_ar.c *

Post‐processingpositioning

postpos() Post‐processingpositioningpostpos.c

Streamserverfunctions

strsvrinit() Initializestreamserverstreamsvr.c

strsvrstart() Startstreamserverstreamsvr.c **

strsvrstop() Stopstreamserverstreamsvr.c

strsvrstat() Getstreamserverstatusstreamsvr.c

strconvnew() Generatestreamconverter streamsvr.c *

strconvfree() Freestreamconverterstreamsvr.c *

RTKserverfunctions

rtksvrinit() InitializeRTKserverrtksvr.c

rtksvrstart() StartRTKserverrtksvr.c

rtksvrstop() StopRTKserverrtksvr.c

rtksvropenstr() Openoutput/logstreamrtksvr.c

rtksvrclosestr() Closeoutput/logstreamrtksvr.c

rtksvrlock() LockRTKserverrtksvr.c

rtksvrunlock() UnlockRTKserverrtksvr.c

rtksvrostat() GetRTKobservationdatastatusrtksvr.c

rtksvrsstat() GetRTKstreamstatusrtksvr.c

Downloaderfunctions

dl_readurls() ReadURLaddresslistfileofGNSSdatadownload.c *

dl_readstas() Readstationlistfilefordownloaddownload.c *

RTKLIBver.2.4.2Manual

121

FunctionDescriptionSourceProgram

dl_exec() ExecutedownloadofGNSSdatadownload.c *

dl_test() ExecutelocalfiletestofGNSSdatadownload.c *

QZSSLEXfunctions

lexupdatecorr() UpdateLEXcorrectionsqzslex.c *

lexreadmsg() ReadLEXmessagelogfileqzslex.c *

lexoutmsg() OutputLEXmessagelogqzslex.c *

lexconvbin() ConvertLEXbinarytoLEXmessagelogqzslex.c *

lexeph2pos() LEXsatelliteephemerisandclockcorrectionqzslex.c *

lexioncorr() LEXionospherecorrectionqzslex.c *



RTKLIBver.2.4.2Manual

122

Appendix D Files and Messages

D.1 Supported RINEX Files



SupportedRINEXversionsandfilesbyRTKLIBareshowninthefollowingtable.



RINEX

Version

ObservationDataNavigationMessages

Met.CLKGEO

BRDC

G R E J C S G R E J C S

2.10O O O* O* O* O N G N* N* - H - - -

2.11O O O O* O* O N G N* N* - H - - -

2.12O O O O* O O N G N N* - H - - -

3.00O O O O* O* O N N N N* N* N - C** -

3.01O O O O* O O N N N N* N* N - C** -

3.02O O O O O O N N N N N N - C** -

G:GPS,R:GLONASS,E:Galileo,J:QZSS,C:BeiDou,S:SBAS

-: notsupported, O,N,G,H:supportedasRINEXfiletype

*RTKLIBextensions(QZSSextensionsarebasedonJAXA[60][61]),**readonly,



RTKLIBver.2.4.2Manual

123

D.2 Supported Receiver Messages



SupportedRTCM2,RTCM3,BINEXandreceiversʹ proprietarymessagesbyRTKLIBareshowninthe

followingtable.



Format

DataMessageTypes

RawObservation

Data

Satellite

Ephemerides

ION/UTC

Parameters

Antenna

Info

SBAS

MessagesOthers

RTCM2

[16]18,19 17 - 3,22 -

1*,9*,

14,16

RTCM3

[17][18]see below see below - see

below - see below

BINEX

[19]

**

0x7f-05

(Trimble NetR8)

0x01

0x01-02,

0x01-03,

0x01-04,

0x01-06

- - - -

NovAtel

OEM4/V/6

[41][42]

RANGEB,

RANGECMPB

RAWEPHEMB

GLO-

EPHEMERISB,

QZSS-

RAWEPHEMB,

GAL-

EPHEMERISB

IONUTCB,

QZSS-

IONUTCB,

GALIONOB,

GALCLOCKB

RAWWAAS-

FRAMEB,

RAWSBAS-

FRAMEB,

QZSSRAW-

SUBFRAMEB

NovAtel

OEM3

[43]

RGEB,

RGED REPB IONB,

UTCB - FRMB -

u‐blox

LEA‐4T/5T/

6T[44]

UBX

RXM-RAW

UBX

RXM-SFRB

UBX

RXM-SFRB - UBX

RXM-SFRB -

NovAtel

SuperstarII

[45]

ID#23 ID#22 - - ID#67

ID#20,

ID#21

Hemisphere

Crescent,

Eclipse

[46][47]

bin 96,

bin 76 bin 95 bin 94 - bin 80 -

SkyTraq

S1315F

[48][49]

msg 0xDD

(221)

msg 0xE0

(224)

msg 0xE0

(224) - -

msg 0xDC

(220)

Furuno

GW‐10‐II/III

[50]

msg 0x08 msg 0x27 msg 0x27 - msg 0x27 msg 0x20

JAVAD

GRIL/GRIES

[51][52][53][54]

[RC],[rc],[CR],

[cr],[PC],[pc],

[CP],[cp],[DC],

[cd],[EC],[CE],

[FC],[R1],[r1],

[1R],[1r],[P1],

[p1],[1P],[1p],

[D1],[1d],[E1],

[1E],[F1],[R2],

[GE],[NE],

[EN],[WE],

[QE]

[UO],[NU],

[EU],[WU],

[QU],[IO]

- [WD]

[~~],[::]

[RD],[ST]

[NN]

RTKLIBver.2.4.2Manual

124

Format

DataMessageTypes

RawObservation

Data

Satellite

Ephemerides

ION/UTC

Parameters

Antenna

Info

SBAS

MessagesOthers

[r2],[2R],[2r],

[P2],[p2],[2P],

[2p],[D2],[2d],

[E2],[2E],[F2],

[R3],[r3],[3R],

[3r],[P3],[p3],

[3P],[3p],[D3],

[3d],[E3],[3E],

[F3],[R5],[r5],

[5R],[5r],[P5],

[p5],[5P],[5p],

[D5],[5d],[E5],

[5E],[F5],[Rl],

[rl],[lR],[lr],

[Pl],[pl],[lP],

[lp],[Dl],[ld],

[El],[lE],[Fl],

[TC]

NVS

NV08C

[55][56]

msg F5h msg F7h msg 4Ah,

msg 4Bh - - -

*Onlysupporttoread,DGPScorrectionisnotsupported

**Onlybig‐endian,forwardandregularCRCmessages



SupportedRTCM3MessageTypes

------------------------------------------------------------------------------

Message GPS GLOASS Galileo QZSS BeiDou SBAS

------------------------------------------------------------------------------

OBS Compact L1 1001~ 1009~ - - - -

Full L1 1002 1010 - - - -

Compact L1/2 1003~ 1011~ - - - -

Full L1/2 1004 1012 - - - -

Ephemeris 1019 1020 1045* 1044* - -

- - 1046* - - -

MSM 1 1071~ 1081~ 1091~ 1111*~ 1121*~ 1101*~

2 1072~ 1082~ 1092~ 1112*~ 1122*~ 1102*~

3 1073~ 1083~ 1093~ 1113*~ 1123*~ 1103*~

4 1074 1084 1094 1114* 1124* 1104*

5 1075 1085 1095 1115* 1125* 1105*

6 1076 1086 1096 1116* 1126* 1106*

7 1077 1087 1097 1117* 1127* 1107*

SSR Orbit Corr. 1057 1063 1240* 1246* - -

Clock Corr. 1058 1064 1241* 1247* - -

Code Bias 1059 1065 1242* 1248* - -

Combined 1060 1066 1243* 1249* - -

URA 1061 1067 1244* 1250* - -

HR-Clock 1062 1068 1245* 1251* - -

Antenna Info 1005 1006 1007 1008 1033

------------------------------------------------------------------------------

* draft, ~ only encode



RTKLIBver.2.4.2Manual

125

D.3 Supported Signal IDs/Observation Types



SupportedsignalIDs/observationtypesbyRTKLIBareshowninthefollowingtable.Thetablealsoindicate

thecorrespondentRINEX2andRINEX3observationtypes,RTCM3MSMsignalIDsandBINEX

observationcodeIDs.ForRTCM2,RTCM3andRINEXtoRINEXconversionbyRTKCONVand

CONVBIN,RTCM2andBINEXtoRTCM3conversionbySTRSVRandSTR2STR,thetableisusedaswell.



SystemFreq.ChannelorCodeSignal

ID

RINEX2

*1

RINEX3

*2

RTCM3

*3

BINEX

*4

GPS

L1

C/A1C C1/CA* 1C 2 0,1

L1C(D)1S - 1S 30 -

L1C(P)1L - 1L 31 -

L1C(D+P)1X CB* 1X 32 6

P1P - 1P 3 2

Z‐trackingand

similar(ASon)1W P1/C1* 1W 4 3

Y1Y - 1Y 5 4

M1M - 1M 6 5

codeless1N - 1N - 7

L2

C/A2C - 2C 8 11

L1(C/A)+(P2‐P1)

(semi‐codeless)2D - 2D - 12

L2C(M)2S - 2S 15 13

L2C(L)2L - 2L 16 14

L2C(M+L)2X C2/CC* 2X 17 15

P2P - 2P 9 16

Z‐trackingand

similar(ASon)2W P2 2W 10 10,17

Y2Y - 2Y 11 18

M2M - 2M 12 19

codeless2N - 2N - 20

L5

I5I - 5I 22 24

Q5Q - 5Q 23 25

I+Q5X C5 5X 24 23,26

GLONASS

G1C/A1C C1/CA* 1C 2 0,1

P1P P1/C1* 1P 3 2

G2C/A2C C2/CD* 2C 8 10,11

P2P P2 2P 9 12

G3

I3I - 3I 11 14

Q3Q - 3Q 12 15

I+Q3X - 3X 13 13,16

GalileoE1

APRS1A - 1A 3 1

BI/NAVOS/CS/SoL 1B - 1B 4 2

C1C - 1C 2 0,3

B+C1X C1 1X 5 4

A+B+C1Z - 1Z 6 5

E5aIF/NAVOS5I - 5I 22 7

RTKLIBver.2.4.2Manual

126

SystemFreq.ChannelorCodeSignal

ID

RINEX2

*1

RINEX3

*2

RTCM3

*3

BINEX

*4

Qnodata5Q - 5Q 23 8

I+Q5X C5 5X 24 6,9

E5b

II/NAVOS/CS/SoL7I - 7I 14 11

Qnodata7Q - 7Q 15 12

I+Q7X C7 7X 16 10,13

E5a+E5b

I8I - 8I 18 15

Q8Q - 8Q 19 16

I+Q8X C8 8X 20 14,17

E6

APRS6A - 6A 9 19

BC/NAVCS6B - 6B 10 20

Cnodata6C - 6C 8 21

B+C6X C6 6X 11 18,22

A+B+C6Z - 6Z 12 23

QZSS

L1

C/A1C C1/CA* 1C 2 0,1

L1C(D)1S - 1S 30 2

L1C(P)1L - 1L 31 3

L1C(D+P)1X CB* 1X 32 4

L1‐SAIF1Z - 1Z 6 30

L2

L2C(M)2S - 2S 15 8

L2C(L)2L - 2L 16 9

L2C(M+L)2X C2/CC* 2X 17 7,10

L5

I5I - 5I 22 14

Q5Q - 5Q 23 15

I+Q5X - 5X 24 13,16

LEX

S6S - 6S 9 20

L6L - 6L 10 21

S+L6X C6 6X 11 19,22

BeiDou

B1

I2I - 2I 2 1

Q2Q - 2Q 3 2

I+Q2X C2 2X 4 0,3

B2

I7I - 7I 14 5

Q7Q - 7Q 15 6

I+Q7X C7 7X 16 4,7

B3

I6I - 6I 8 9

Q6Q - 6Q 9 10

I+Q6X C6 6X 10 8,11

SBAS

L1C/A1C C1/CA* 1C 2 0,1

L5

I5I - 5I 22 7

Q5Q - 5Q 23 8

I+Q5X C5 5X 24 6,9

*1pseudorangeOBSTYPE[9][10][11][12][13][14],*2[12][13][14],*3RTCMMSMsignalID[18],

*4BINEXobservationcodeIDformessage0x7f‐05[19],*RINEX2.12



RTKLIBver.2.4.2Manual

127

D.4 Default Priorities of Multiple Signals



Ifinputobservationdatacontainmultiplesignalsinafrequency,RTKLIBselectsasignalforprocessingby

thefollowingdefaultpriorities.Toselectappropriatesignal,useRINEXoptionsorreceiverdependent

optionsdescribedinAppendixD.5.InuserAPs,tochangeorobtainthesignalpriorities,useAPI

setcodepri() orgetcodepri().



SystemFreq.SignalPriority(1:highest>10:lowest) *

12345678910

GPS

L11C 1P 1Y 1W 1M 1N 1S 1L

L22P 2Y 2W 2C 2M 2N 2D 2S 2L 2X

L55I 5Q 5X

GLONASS

G11P 1C

G22P 2C

G33I 3Q 3X

Galileo

E11C 1A 1B 1X 1Z

E5a5I 5Q 5X

E5b7I 7Q 7X

E5a+E5b8I 8Q 8X

E66A 6B 6C 6X 6Z

QZSS

L11C 1S 1L 1X 1Z

L22S 2L 2X

L55I 5Q 5X

LEX6S 6L 6X

BeiDou

B12I 2Q 2X

B27I 7Q 7X

B36I 6Q 6X

SBASL11C

L55I 5Q 5X

*ReferAppendixD.3forsignalIDs,



RTKLIBver.2.4.2Manual

128

D.5 Receiver Dependent Input Options



FormatOptionDescription

RTCM2- -

RTCM3

-EPHALL Input all of ephemerides

-STA=nnn Input only messages with STAID=nnn

-GLss Select signal ss for GPS MSM (ss=1C,1P...) * **

-RLss Select signal ss for GLO MSM (ss=1C,1P...) * **

-ELss Select signal ss for GAL MSM (ss=1C,1B...) * **

-JLss Select signal ss for QZS MSM (ss=1C,2C...) * **

-CLss Select signal ss for BDS MSM (ss=2I,7I...) * **

BINEX

-EPHALL Input all of ephemerides

-GLss Select signal ss for GPS (ss=1C,1P...) * **

-RLss Select signal ss for GLO (ss=1C,1P...) * **

-ELss Select signal ss for GAL (ss=1C,1B...) * **

-JLss Select signal ss for QZS (ss=1C,2C...) * **

-CLss Select signal ss for BDS (ss=2I,7I...) * **

NovAtelOEM4/V/6

-EPHALL Input all of ephemerides

-GL1P Select 1P for GPS L1 (default 1C) *

-GL2X Select 2X for GPS L2 (default 2W) *

-RL2C Select 2C for GLO L2 (default 2P) *

-EL2C Select 2C for GAL L2 (default 2C) *

NovAtelOEM3- -

u‐bloxLEA‐4T/5T/6T

-EPHALL Input all of ephemerides

-INVCP Invert polarity of carrier-phase

-TADJ=tint Adjust time tags to multiples of tint (sec)

NovAtelSuperstarII- -

Hemisphere

Crescent/Eclipse-EPHALL Input all of ephemerides

SkyTraqS1315F-INVCP Invert polarity of carrier-phase

FurunoGW‐10‐II/III-EPHALL Input all of ephemerides

JAVADGRIL/GRIES

-EPHALL Input all of ephemerides

-GL1W Select 1W for GPS L1 (default 1C) *

-GL1X Select 1X for GPS L1 (default 1C) *

-GL2X Select 2X for GPS L2 (default 2W) *

-RL1C Select 1C for GLO L2 (default 1P) *

-RL2C Select 2C for GLO L2 (default 2P) *

-JL1Z Select 1Z for QZS L1 (default 1C) *

-JL1X Select 1X for QZS L1 (default 1C) *

-NOET Discard epoch time message ET (::)

NVSNV08CBINR-EPHALL Input all of ephemerides

-TADJ=tint Adjust time tags to multiples of tint (sec)

*ReferAppendixD.3forsignalIDs,**ReferAppendixD.4fordefaultsignalpriority



RTKLIBver.2.4.2Manual

129

Appendix E Models and Algorithms



ThisappendixbrieflydescribesthemodelsandalgorithmsinvolvedinRTKLIB.Thecommonacronyms

usedformodelsorequationsintheappendixareshownasfollows.



c :speedoflight(m/s)

 :i

Lpseudorangemeasurementofsignal(m)

 :i

LDopplerfrequencymeasurementofsignal(Hz)



 :i

Lcarrier‐phasemeasurementofsignal(cycle)



 :i

Lphase‐rangemeasurementofsignal(m)

t :navigationsignalreceptiontimeatreceiver(s)

t :navigationsignaltransmissiontimeatsatellite(s)



 :geometricrangebetweensatelliteandreceiverantennas(m)

r :range‐ratebetweensatelliteandreceiverantennas(m/s)

()

str:satellitepositionattimetinECEF(m)

()

stv:satellitevelocityattimetinECEF(m)

()

rtr:receiverantennapositionattimetinECEF(m)

()

rtv:receiverantennavelocityattimetinECEF(m/s)

e :LOSvectorfromreceiverantennatosatelliteinECEF

renu

e:LOSvectorfromreceiverantennatosatelliteinlocalcoordinates

 :coordinatesrotationmatrixfromECEFtolocalcoordinatesatreceiverantennaposition

 :coordinatesrotationmatrixfromECEFtosatellitebody‐fixedcoordinates



 :latitudeofreceiverantennaposition(rad)

 :longitudeofreceiverantennaposition(rad)

z :azimuthangleofsatellitedirection(rad)

l :elevationangleofsatellitedirection(rad)

()

dt t :receiverclockbiasattimet(s)

()

dt t

:receiverclockdriftattimet(s/s)

()

dT t :satelliteclockbiasattimet(s)

()

dT t

:satelliteclockdriftattimet(s/s)

T :troposphericdelay(m)

I :i

Lionosphericdelay(m)

  :i

Lcarrierfrequency(Hz)

  :i

Lcarrierwavelength(m)

 :i

Lcarrier‐phasebias(cycle)

RTKLIBver.2.4.2Manual

130

N :i

Lcarrier‐phaseintegerambiguity(cycle)



 :measurementerrorsofpseudorange(m)





 :measurementerrorsofcarrier‐phase(cycle)





 :measurementerrorsofphase‐range(m)



 :earthrotationanglevelocity(rad/s)

,,rpcoi

d:i

Lreceiverantennaphasecenteroffsetinlocalcoordinates(m)

co i

d:i

Lsatelliteantennaphasecenteroffsetinsatellitebody‐fixedcoordinates(m)

()

rpcvi

dEl

:i

Lreceiverantennaphasecentervariation(m)

,()

pcv i



:i

Lsatelliteantennaphasecentervariation(m)



 :off‐nadirangleofreceiverantennadirectionfromsatellite(rad)

,rdisp

d:displacementbyearthtidesatreceiverpositioninlocalcoordinates(m)



 :phasewindupeffect(cycle)

rel

dT :relativitycorrectionforsatelliteclock(s)

()tU:ECItoECEFcoordinatestransformationmatrixattimet

()



R:coordinatesrotationmatrixaroundx‐axisbyangle





()



R:coordinatesrotationmatrixaroundy‐axisbyangle





()



R:coordinatesrotationmatrixaroundz‐axisbyangle





()

k:SD(single‐difference)betweensatellite

andk

()  :SD(single‐difference)betweenreceiver

andb

,Tr

:troposphericzenithtotaldelay(m)

:troposphericzenithhydrostaticdelay(m)

G:eastcomponentoftroposphericgradient

,Nr

G:northcomponentoftroposphericgradient

m:mappingfunctionforhydrostatictroposphericdelay

m:mappingfunctionforwettroposphericdelay

m :mappingfunctionforionosphericdelay



RTKLIBver.2.4.2Manual

131

E.1 Time System



RTKLIBinternallyusesGPST(GPSTime)forGNSSdatahandlingandpositioningalgorithms.Thetimeof

inputdataexpressedinothertimesystemslikeUTC(UniversalTimeCoordinated)isconvertedtoGPST

beforeinternalprocessingortheGPSToftheinternaldataisconvertedtotheappropriateothertime

systembeforeoutput.OneofthereasonswhyusingGPSTistoavoidleapsecondshandling.UTC,whichis

themostgenerallyusedtimesystem,isnotacontinuoustimesystemwithasecondjumpbytheleap

secondinsertionordeletion.



TheGPSTisoftenexpressedasaGPSweeknumberandTOW(timeofweek)insecondssincethestart

epochof00:00:00UTConJanuary6,1980.RTKLIB,however,doesnotusesuchaconvention.InGNSSdata

processing,weoftenneedtoconvertatimetoarangeorarangetoatime.TheTOWevenexpressedasa

doubleprecisionhasonlytheresolutionof10

1.3 10



sintime,whichisequivalenttotheresolutionof0.04

minrange.So,instead,RTKLIBexpressestimeasthetypegtime_tdefinedas:



typedef struct {

time_t time; /* time (s) expressed by standard time_t */

double sec; /* fraction of second under 1 s */

} gtime_t;



wherethetime_tisthestandardtimetypeprovidedbythestandardClibrary.Theinternalrepresentation

ofthetime_t

dependsuponthecomputersystem.Itisoftenimplementedbyanunsigned32bitintegeras

thenumberoftotalsecondssince00:00:00onJanuary1,1970.Duetothebitlengthlimitationtheinteger,

thegtime_tcannothandlethetimebeforeJanuary1,1970orafterJanuary19,2038inthiscase.



Thesecofthegtime_tholdsthefractionalsecond.Thesechastheresolutionof8

6.7 10

minrange

adequateforGNSSprecisepositioncomputation.RTKLIBalsoprovidesseveralusefulAPIstohandlethe

gtime_tincludingadding,difference,conversionto/fromtheGPSweeknumberandTOW.



(1) GPSTandUTC(UniversalTimeCoordinated)

TheroughconversionofGPSTtoUTC(UniversalTimeCoordinated)orUTCtoGPSTcanbe

expressedsimplyas:



UTC GPS LS

tt t



(E.1.1)

GPST UTC LS

ttt



(E.1.2)

RTKLIBver.2.4.2Manual

132



whereUTC

tandGPST

tarethetimeexpressedinUTC(s)andthetimeinGPST(s).LS



isthedelta

time(s)betweenUTCandGPSTduetothecumulativeleapsecondssinceJanuary6,1980.Thevalues

ofLS



areshowninTableE.1‐1untilMarch2013.



TableE.1‐1GPST‐UTCValues(untilMarch2013)

TimeSince(inUTC) LS



(s)

-----------------------------

1980-01-06 00:00:00 0

1981-07-01 00:00:00 1

1982-07-01 00:00:00 2

1983-07-01 00:00:00 3

1987-01-01 00:00:00 4

1988-01-01 00:00:00 5

1990-01-01 00:00:00 6

1991-01-01 00:00:00 7

1992-07-01 00:00:00 8

1993-07-01 00:00:00 9

1994-07-01 00:00:00 10

1996-01-01 00:00:00 11

1999-01-01 00:00:00 13

1997-07-01 00:00:00 12

2006-01-01 00:00:00 14

2009-01-01 00:00:00 15

2012-07-01 00:00:00 16



Theaccuracyoftheapproximationin(E.1.1)or(E.1.2)iswithinseveral10ns.ByusingtheUTC

parametersinGPSnavigationmessages,wecanconvertGPSTtoUTCorUTCtoGPSTmore

accuratelyas:







( 604800( ))

UTC GPS LS E ot t

tt tAAtt WNWN



    (E.1.3)



where0

,1

,E

t,ot

t,WN aret

WN  aretheUTCparametersprovidedinGPSnavigationmessages.

Morestrictly,UTCin(E.1.3)isUTC(USNO),whichistheUSlocalimplementationofUTC.The

differencebetweenUTCandUTC(USNO)canbeobtainedinCircularTprovidedbyBIPM[72].The

differenceisusuallyseveralnslevel.



(2) GLONASST(GLONASSTime)

GLONASST(GLONASSTime)isbasedonUTC(SU)andincludesleapsecondinsertionordeletion.

GLONASSTisalsoalignedtothelocaltime.So,roughly,thetimeGLONASST

t(s)inGLONASSTcanbe

convertedtothetimeUTC

t(s)inUTC.



10800

UTC GLONASST

tt

(E.1.4)



RTKLIBver.2.4.2Manual

133

Moreaccurately,theUTCparametersforGLONASSTinGLONASSnavigationmessageshouldbe

usedsimilartotheGPSTandUTCconversion.Ignoringtheleapsecondsandthe3houroffset,the

differencebetweenGPSTandGLONASSTisusually100orseveral100nslevel.



(3) GST(GalileoSystemTime)

GST(GalileoSystemTime)iscomposedofweeknumberfromtheoriginoftheGalileotimeandthe

TOW(timeofweek)inseconds.TheGSTstartepochis00:00:00UTConAugust22,1999.Atthestart

epoch,GSTshallbeaheadofUTCby13seconds.TheGSTiscontinuoustimewithoutleapsecond

insertionordeletion.So,theGSTisalignedtoGPSTexceptforthe1024weeksdifferenceofthetime

systemoriginandasmalltimeoffset(GGTO).NotethattheGalileoweeknumberisprovidedasequal

totheGPSweeknumberintheRINEXconvention.



(4) QZSST(QZSSTime)

QZSST(QZSSTime)isalignedtoGPST.IthasthesameoriginasGPSTandthesamedefinitionof

one‐secondofGPST.Practically,QZSSTcanbehandledassameasGPST.



(5) BDT(BeiDouNavigationSatelliteSystemTime)

BDT(BeiDouNavigationSatelliteSystemTime)isacontinuoustimesystemwithoutleapsecond

insertionordeletion.ThestartepochofBDTis00:00:00UTConJanuary1,2006.TheoffsetofBDTwith

respecttoUTCiscontrolledwithin100ns(modulo1second).So,thetimeGPS

t(s)inGPSTcan

roughlybeconvertedtothetimeBDT

t(s)inBDTwithintheaccuracyof200nsas:



BDT GPST

tt

(E.1.5)



Moreaccurately,theUTCparametersforBDTinBeiDounavigationmessagesshouldbeusedsimilar

totheGPSTandUTCconversion.



RTKLIBver.2.4.2Manual

134

E.2 Coordinates System



ThereceiverorsatellitepositionsinRTKLIBareinternallyrepresentedastheX,Y,Zcomponentsinan

ECEF(earthcenterearthfixed)coordinatessystem.WhatECEFframeusedisnotexplicitlydefinedbut

dependsonthesatelliteephemerisandthepredefinedbasestationposition.Forexample,withGPSsignals

andnavigationdata,thesinglepointpositioningresultsareobtainedinWGS84.Thebaselineanalysiswith

thebasestationwiththepositioninanECEFframebasicallybringstheroverpositioninthesameECEF

frame.Practically,allofusuallyusedECEFframesinGNSSnavigationprocessinglikeWGS84,PZ90.02

andITRF,areidenticalwithintheaccuracyofbroadcastephemerisorsinglepointpositioning.However,

morestrictandcarefulhandlingofthecoordinatessystemisneededforthebaselineanalysisorPPP.The

unifiedcoordinatessystemisdesirabletominimizetheprocessingerrorinthesecases.



(1) TransformationfromgeodeticpositiontoECEFXYZposition

ThegeodeticpositionaredefinedbasedonareferenceellipsoidshowninFigureE.2‐1.Thegeodetic

latituder



,longituder

andtheellipsoidalheighthcanbetransformedtotheECEFXYZposition

(,,)

yzrasfollows:



2(2 )ef f

(E.2.1)

1sin





(E.2.2)

()coscos

()cossin

(1 ) sin

rrr

















r(E.2.3)



where:

a:majorradiusoftheearthreferenceellipsoid(m)

:flatteningoftheearthreferenceellipsoid



CurrentversionRTKLIBalwaysusesthefollowingvaluesforaand

ofthereferenceellipsoid

providedbytheWGS84datum.



6378137.0a(m)

1.0/298.257223563f

RTKLIBver.2.4.2Manual

135



FigureE.2‐1ReferenceEllipsoid



(2) TransformationfromECEFXYZpositiontogeodeticposition

TotransformtheXYZposition(,,)

yzrinECEFtothegeodeticposition,thefollowingprocedure

isapplied.Thegeodeticlatitudeisderivedbyaniterativemethodintheprocedure.



rxy

(E.2.4)

,0 0



(E.2.5)

,1 22

tan

arctan 1(1 )tan

rre



















(E.2.6)

lim

rri





(E.2.7)

2( , )

TAN y x

(E.2.8)

cos (1 ) sin







(E.2.9)



(3) TransformationbetweenlocalcoordinatesandECEF

Thelocalcoordinatesatthereceiverposition,whichisalsocalledasENUcoordinates,isoftenusedin

GNSSnavigationprocessing.Therotationmatrixr

oftheECEFcoordinatestothelocalcoordinates

areexpressedas:



sin cos 0

sin cos sin sin cos

cos cos cos sin sin

rrrrrr

rr rr r



--



--







 





E(E.2.10)



rzyx ),,(r

Reference

Ellipsoid



:GeocentricLatitude

:GeodeticLatitude

)1( 2

ea 

:EllipsoidalHeight

x,yplane

:Longitude



RTKLIBver.2.4.2Manual

136



wherer



andr

arethegeodeticlatitudeandthelongitudeofthereceiverposition.Byusingther

andthereceiverpositionr

rintheECEFcoordinates,thepositionECEF

rintheECEFcoordinatescan

betransformedtothepositionlocal

rinthelocalcoordinatesas:



()

local r ECEF r

rEr r(E.2.11)



(4) Geoidmodels

Toobtainthegeodeticheightderivedfromtheellipsoidalheight,weshouldconsiderthegeoidheight.

Thegeodeticheight

eod

h(m)isexpressedas:



d(, )

eo r r

h h geod



 (E.2.12)



where(, )

geoid



isthegeoidheight(m)atthelatituder



andthelongituder

.RTKLIBsupports

thefollowinggeoidmodelsselectablebytheprocessingoptionʺGeoidModelʺ.Allofthesegeoid

modelsareprovidedasthegeoidheightsatthelatitudeandlongitudegridpoints.RTKLIBuses

bi‐linearinterpolationtoobtainthevalueforanappropriatelatitudeandlongitudeposition.Touse

thesegeoidmodelexceptfortheinternalmodel,thegeoidmodeldatafileshouldbedownloadedand

thefilepathshouldbesetastheprocessingoptionʺGeoidDataFileʺ.



(a)Internal:1degx1deggridgeoidderivedfromEGM96

(b)EGM96:15ʺx15ʺgridEGM96geoidmodel

(c)EGM2008:2.5ʺx2.5ʺgridor1ʺx1ʺgridEGM2008geoidmodel

(d)GSI2000:1ʺx1.5ʺgridGSI2000geoidmodel(onlysurroundingofJapaneseisland)



RTKLIBver.2.4.2Manual

137

E.3 GNSS Signal Measurement Models



(1) GNSSSignalStructure

FigureE.3‐1showsatypicalGNSSsignalstructure.TheGNSSsignalisgenerallycomposedof

multiplicationofthecarrierfrequency(Carrier),thespreadingcode(Code)andthenavigationdata

(Data).ThespreadingcodesarealsocalledasPRN(pseudorandomnoise)codes.Thedetailed

specificationsoftheseGNSSsignalsprovidedbyGPS,GLONASS,Galileo,QZSS,BeiDouandSBAS

arefoundinAppendixF.



FigureE.3‐1GNSSSignalStructure



(2) Pseudorangemeasurementmodel

Thepseudorangeisdefinedasʺthedistancefromthereceiverantennatothesatelliteantenna

includingreceiverandsatelliteclockoffsets(andotherbiases,suchasatmosphericdelays)ʺ[9].Thei

L

pseudorange,

canbeexpressedbyusingthesignalreceptiontime r

t(s)measuredbythereceiver

clockandthesignaltransmissiontime

t(s)measuredbythesatelliteclockas:



,()

ri r

Pctt

(E.3.1)



Theequationcanbewrittenbyusingthegeometricrange



betweensatelliteandreceiverantennas,

thereceiverandsatelliteclockbiasesr

dT ,theionosphericandtroposphericdelay,

I,

Tandthe

measurementerror



as:[64]

Carrier

Code

Signal

Data

2()()sin(2 )PC t D t ft







)2sin(







)(tC

)(tD

‐1

RTKLIBver.2.4.2Manual

138



(( ( )) ( ( )))

()(() ())

()(()())

(() ())

ssss

ri r r r P

sss

rrr P

ss s ss

rrir rr P

sssss

rrr rirP

Pctdtt tdTt

ct t cdt t dT t

ITcdttdTt

cdt t dT t I T











  

  

  

  

(E.3.2)



FigureE.3‐2PseudorangeModel



(3) Carrier‐phaseandphase‐rangemeasurementmodel

Thecarrier‐phaseisʺ...actuallybeingameasurementonthebeatfrequencybetweenthereceived

carrierofthesatellitesignalandareceiver‐generatedreferencefrequencyʺ [9].The i

L carrier‐phase



canbeexpressedas:





,, ,

0,0, 00, ,

,0, 0, ,

() ()

(( () ) )(( () ) )

() () ( )

ssss

ri ri r i ri

sss s s

ir rr ri i i ri

sssss

rrr riiri

ttN

ft dtt t ft dT t t N

tt dtt dTt N



  





 



       

  

  (E.3.3)



where0

tistheinitialtime(s),,()

ri t



isthei

Lphase(cycle)ofreceiverlocaloscillatorand()



isthe

Lphase(cycle)oftransmittednavigationsignalatthetimet.,0,ri



isthei

Linitialphase(cycle)of

receiverlocaloscillatorand,0,



isthei

Linitialphase(cycle)oftransmittednavigationsignalatthe

time0

t.



Thei

Lphase‐range,



,definedasthecarrier‐phasemultipliedbythecarrierfrequencyi

inm,also

canbeexpressedbyusingthecarrierphasebias,

andcarrier‐phasecorrectionterms,





AtSatellite

At Receiver







Time by Satellite Clock (s)

Time by Receiver Clock (s)

RTKLIBver.2.4.2Manual

139

includingantennaphasecenteroffsetsandvariations,stationdisplacementbyearthtides,phase

windupeffectandrelativitycorrectiononthesatelliteclockas:



,0, 0, ,

,,,

()(() ())( )

(() ())

ri i ri

sssss

rrr iriirii

sssssss

rrr riririri

ct t cdt t dT t N

cdt t dT t I T B d





-

 -

-



    

    

  (E.3.4)



where:

,,0,0, ,

ri r i i ri





(E.3.5)



,,,, , ,, , ,,

() ()

sTssss s Ts

r i r pco i r enu pco i r r pcv i pcv i r disp r enu i pw

ddEld

-

     de Ede de (E.3.6)



Nisoftencalledascarrier‐phaseintegerambiguity,carrier‐cycleambiguityorsimplyambiguity.For

thedetailedformulationofthecarrier‐phasecorrectionterms,referAppendixE.9.



(4) Geometricrangebetweenreceiverandsatelliteantennas

Thegeometricrangeisdefinedasthephysicaldistancebetweenthesatelliteantennaphasecenter

positionandthereceiverantennaphasecenterpositionintheinertialcoordinates.Atfirst,thesignal

transmissiontime

tcanbederivedfrom:



,/()

rri

ttPcdTt  (E.3.7)



Thebothsidesintheequationincludes

t.Soseveraliterationsareneededtosolvetheequation.The

geometricrangecanbeexpressedbyusingthereceiverandsatelliteantennaphasecenterpositions

() ( , , )

rr r r r

txyzratthetimer

tand() ( , , )

ssssT

txyzratthetime

tintheECEF(earthcenter

earthfixed)coordinatesas:



()() () ()

sss

rrrr

tt t t



Ur Ur (E.3.8)



where()tUistheECEFtoECI(earthcenterinertial)coordinatestransformationmatrixatthetimet.

FortheexpressionintheECEFcoordinates,theearthrotationeffecthastobeincorporatedintoobtain

thegeometricrange.Theequationcanbeapproximatedbyoneofthefollowingequationswith

adequateprecisionunder1mmlevel.CurrentversionRTKLIBalwaysusestheequation(F.3.8b)forthe

geometricrange.Thelasttermin(F.3.8b)issometimescalledasSagnaceffect.



RTKLIBver.2.4.2Manual

140

)()/()( sss

rezrr

rtct rRr



 (E.3.8a)

() () ( )

sssss

rrr r r

tt xyyx





  rr (E.3.8b)

)())(()( sss

rezrr

rtttt rRr 



(E.3.8c)



FigureE.3‐1GeometricRangeandEarthRotationCorrection



(5) Azimuthandelevationanglesofsatellitedirection

TheunitLOS(line‐of‐sight)vectorfromthereceivertothesatellitecanbeexpressedintheECEF

coordinatesas:



() ()

srr

rss rr





(E.3.9)



Intheequation,theearthrotationeffectisneglected.Theazimuthandelevationangles

zand

lof

thesatellitedirectionfromthereceiversitecanbederivedfrom:



,(, , )

renu r r e n u

eeeeEe (E.3.10)

2( , )

ren

zATANee(E.3.11)

arcsin( )

le(E.3.12)



()







()

Earth

Receiver

Satellite

ECEFatsignaltransmission ECEFatsignalreception

RTKLIBver.2.4.2Manual

141

wherer

isthecoordinatesrotationmatrixfromECEFtothelocalcoordinatesatthereceiverposition.

ReferE.2fordetailedformationofthematrix.



FigureE.3‐2LocalCoordinatesandAzimuthandElevationAngles



z(U)

x(E)y(N)

Receiver El

Satellite

RTKLIBver.2.4.2Manual

142

E.4 GNSS Satellite Ephemerides and Clocks



RTKLIBsupportsbroadcastephemeridesandclocksforGPS,GLONASS,Galileo,QZSS,BeiDouandSBAS.

ItalsosupportsthepreciseephemeridesandclocksprovidedastheSP3‐c[22]andclockRINEX[15]including

Galileo,QZSSandBeiDouforpostprocessingmodes.Forreal‐timemodes,thebroadcastephemeridesand

clockscorrectedbytheSBASlong‐termandfastcorrectionsandtheRTCM3SSR(statespace

representation)correctionsarealsosupported.Thefollowingequationsshowtheephemerisandclock

modelsusedinRTKLIB.



(1) BroadcastephemeridesandclocksforGPS,GalileoandQZSS[1][5][6]

BroadcastephemerisandSVclockparametersforGPS,GalileoandQZSSaregiveninnavigation

messagesas:



00 0 012

(,, )(,,, ,, ,,,, , , , , , , , , , )

ephoeoc usucrsrcisic GD

ttIOD aei M nI CCCCCCafafafT

  

p (E.4.1)



Byusingtheseparameters,thesatelliteposition(antennaphasecenterposition)()

strinECEF,the

satelliteclockbias()

dT t andclockdrift()

dT t

arecomputedas:



koe

ttt (E.4.2)

03k

Mnt





 





(E.4.3)

sin

Ee E (E.4.4)

1sin

cos







(E.4.5)

arctan







(E.4.6)

sin 2 cos2

us uc

uC C





 (E.4.7)

sin 2 cos2

rs rc

rC C





 (E.4.8)

sin2 cos2

is ic

iC C





 (E.4.9)





 (E.4.10)

(1 cos )ra e E r



 

(F.4.11)

ii iIt





(E.4.12)

0()

ek eoe

  

 

(E.4.13)

cos cos sin cos sin

( ) cos sin sin cos cos

sin sin

suui

tr u u i















r(E.4.14)

coc

ttt (E.4.15)

RTKLIBver.2.4.2Manual

143

01 2 2

() sin

scc GD

dT t af af t af t e A E bT



    (E.4.16)

() 2

dT t af af t

(E.4.17)



where:



:earthgravitationalconstant(14

3.9860050 10m3/s2forGPSandQZSS, 14

3.986004418 10m3/s2



forGalileo)



:earthangularvelocity(-5

7.2921151467 10rad/s)

1/i

bf ffori

Lpseudorange

T:groupdelayparametersforGPSandQZSS,GD

BforGalileo(s)



TheKeplerequation(E.4.4)canbesolvedthefollowingiterationbyNewtonʹsmethod.



EM(E.4.18)

1sin

1cos

ii i

eEM

EE eE



 (E.4.19)

lim i



(E.4.20)



ThebroadcastephemeridesandclockareappliedincasethattheprocessingoptionʺSatellite

Ephemeris/ClockʺtoʺBroadcastʺaswellasGLONASS,BeiDouandSBAS.



(2) BroadcastephemeridesandclocksforGLONASS[4]

BroadcastephemerisandclockparametersforGLONASSaregiveninthenavigationmessagesas:



() (,,, , , , , , , , )

eph b x y z x y z n n

txyzvvvaaa





p(E.4.21)



Thedifferentialequationsforthesatelliteposition() ( , , )

txyzrandvelocity() ( , , )

tvvvvin

ECEF(PZ90.02)canbeformedas:



dx v

dt ,y

dy v

dt ,z

dz v

dt (E.4.22)

222

352

eeyx

dv a z

Jx xva

dt rrr







     





(E.4.23)

222

352

yeeexy

dv az

yJ y y va

dt rrr







     





(E.4.24)

352

dv z

zJ z a

dt rrr





   





(E.4.25)



where:

a:earthsemi‐majoraxis(6378136.0 m)

RTKLIBver.2.4.2Manual

144



:earthgravitationalconstant(9

398600.44 10m3/s2)



:earthangularvelocity(-5

7.292115 10rad/s)

:secondzonalharmonicofthegeopotential(9

1082625.7 10



)

222

rxyz



NotethattwoerratainA.3.1.2ofGLONASSICD5.1[4]hasbecorrectedinthemodelsabove.



Thesatelliteposition()

strandvelocity()

stvatthetimetcanbederivedbytheRK4(Runge‐Kutta

4thorderandstage)numericalintegrationtosolvethesedifferentialequationswiththeinitialsatellite

position()

trandvelocity()

tvatthereferencetimeb

t.Forsatelliteclockbias()

dT t anddrift

()

dT t

attheepochtimetarealsoderivedas:



() ( )

snn b

dT t t t



   (E.4.26)

()

dT t





(E.4.27)



TherelativisticeffectinthesatelliteclockareincludedintheGLONASSclockparameters.Sothe

relativisticcorrectionisnotappliedinthiscase.



(3) BroadcastephemeridesandclocksforBeiDou[7]

ForBeiDousatellites,thesimilarephemerisandclockparametersasGPS,GalileoandQZSSare

providedinthenavigationmessagesas:



00 0 012

(,)(,,,,,,,,,,,,,,,,,, )

ephoeoc usucrsrcisic GD

t t a e i M n I C C C C C C af af af T

  

p (E.4.28)



ForMEOandIGSOsatellitesofBeiDou,thesameformulationsas(1)forGPSephemerisandclock,

exceptfor



=14

3.986004418 10,e



=-5

7.2921150 10rad/sandthetimetisexpressedinBDT.



Toobtainthesatelliteposition()

strofBeiDouGEOsatellitesatthetimetinBDT,theequation

(E.5.13)and(E.5.14)shouldbereplacedby:



0keoe

  

 

(F.4.29)

cos cos sin cos sin

( ) ( ) ( 5 ) cos sin sin cos cos

sin sin

szek x

uui

tr t u u i



















rRR (E.4.30)



where:

RTKLIBver.2.4.2Manual

145

10 0

() 0 cos sin

0sincos



















R,

cos sin 0

() sin cos 0

001















R



(4) BroadcastephemeridesandclocksforSBAS[8]

NavigationmessageparametersforSBASGEOsatellitesaregivenintheSBASmessages(message

type9)as:



001

() (,,, , , , , , , , )

eph x y z x y z GF GF

txyzvvvaaaaap(E.4.31)



Byusingtheseparameters,thesatelliteposition()

strinECEFandsatelliteclockbias()

dT t are

computedas:



() () ()

syy

xv a

tyvtt att

zva

 

 



  

 

 



 

r(E.4.32)

010

() ( )

sGF GF

dT t a a t t 

(E.4.33)



(5) SBASorbitandclockcorrections[8]

TheSBASorbitandclockcorrectionsaredefinedasthefollowingparameters.



001

(, ) ( , , , , , , , )

sbas t IOD x y z x y z af af



 

Δ(E.4.38)



The

OD indicatesthetargetbroadcastephemerisandclockparameters.Thecorrectedsatellite

position()

strattimetiscomputedas:



() () ( )

broadcast

ttyytt















(E.4.39)

where:

()

sbroadcast tr:satellitepositionattimetcomputedbythebroadcastephemeriswith

OD (m)



Thecorrectedsatelliteclockbias

()

dT t

atthetimetisalsocomputedwiththeSSRcorrectionas:



010

() () ( )

broadcast

dT t dT t af af t t





(E.4.40)



RTKLIBver.2.4.2Manual

146

where:

()

sbroadcast

dT t :satelliteclockbiasattimetcomputedbythebroadcastclockwith

OD .



TheSBAScorrectionwithbroadcastephemeridesandclocksareappliedincasethattheprocessing

optionʺSatelliteEphemeris/ClockʺtoʺBroadcast+SBASʺ.



(6) Preciseephemeridesandclocks

ThepreciseephemeridesforGPS,GLONASS,Galileo,QZSSandBeiDouareusuallyprovidedasSP3‐c

filescontainingsatellitepositionsandvelocities(optional)atevery15minor5minepochs.Toobtain

thesatellitepositionatthetimet,anappropriateinterpolationisneeded.RTKLIBusesthefixed

degree(10n)polynomialinterpolationbyNewton‐Nevilleʹsalgorithmas:



,()

jj j

Pt x   ()ijin



   (E.4.34)

,1 1,

,( ) () ( ) ()

() kjk jjk

jk kj

ttp t ttp t

pt tt





()ijkin



   (E.4.35)



wherenisthedegreeofthepolynomialfortheinterpolationand12

(),( ),( ),...,( )

ii i in

xt xt xt xt





arethe

ephemerisvaluesforeachcomponentsattheepochs12

,,,...,

ii i in

tt t t





.Forexample,inthe4ncase,

theinterpolatedvalue()

tatthetimetcanbederivedas:



,() ( )

ii i

txt

 ,1

()



1, 1 1

() ( )

ii i

txt

 

,2

()



 1, 2 ()

  ,3

()



2, 2 2

() ( )

ii i

ptxt

 

1, 3 ()

  ,4() ()

txt

 1, 2 ()

  1, 4 ()

 

3, 3 3

() ( )

ii i

ptxt

 

2, 4()

 

 3, 4()

 

4, 4 4

() ( )

ii i

ptxt

 





NotethatpreciseephemeridesusuallypresenttheCoM(centerofmass)positionsofsatellitenotasthe

antennaphasecenterposition.Sousersshouldcorrectthesatelliteantennaphasecenteroffsettouse

thepreciseephemerides.Fordetails,referAppendixE.8.



Inspiteofthepreciseephemerishigh‐orderpolynomialinterpolation,asimplelinearinterpolationis

implementedforpreciseclocksprovidedasSP3‐corclockRINEXfilesas:



RTKLIBver.2.4.2Manual

147

()()()()

() ss

siiii

ttdTtttdTt

dT t tt







1

()

ttt





  (E.4.36)



ForthepreciseclocksprovidedbyIGS(InternationalGNSSservice),therelativisticeffectshouldbe

correctedas:[68]



()()()()() ()

() 2

sTs

siiii

ttdTtttdTt tt

dT t tt c











(E.4.37)



where()

strand()

stvarethesatellitepositionandvelocityderivedfromthepreciseephemerides.



ThepreciseephemeridesandclocksareappliedincasethattheprocessingoptionʺSatellite

Ephemeris/ClockʺtoʺPreciseʺ.



(7) RTCMSSRorbitandclockcorrections[18]

TheRTCMSSRorbitandclockcorrectionsaredefinedasthefollowingparameters.



0012

(, ) ( , , , , , , , , )

ssr radial along cross radial along cross

tIOD O O O O O O CCC



Δ  (E.4.41)



The

OD indicatesthetargetbroadcastephemerisandclockparameters.Thecorrectedsatellite

position()

strattimetiscomputedas:



()

sbroadcast

along sbroadcast

v

v(E.4.42)

() ()

broadcast broadcast

cross ss

broadcast broadcast





(E.4.43)

radial along cross

eee

(E.4.44)

()

radial

along along

cross cross

OOtt



 







 







(E.4.43)



() () , ,

broadcast radial along cross



rr eee O

(E.4.45)



where:

()

sbroadcast tr:satellitepositionattimetcomputedbythebroadcastephemeriswith

OD (m)

()

sbroadcast tv:satellitevelocityattimetcomputedbythebroadcastephemeriswith

OD (m/s)



RTKLIBver.2.4.2Manual

148

Thesatellitevelocity()

sbroadcast tviscomputedbythefollowingdifferentialapproximationwith

0.001t



(s).



() ()

() ss

sbroadcast broadcast

broadcast tt t





rr

v(E.4.46)



Thecorrectedsatelliteclockbias

()

dT t

atthetimetisalsocomputedwiththeSSRcorrectionas:



01 0 2 0

()()CC Ctt Ctt



   (E.4.47)

() ()

broadcast C

dT t dT t C





(E.4.48)



where:

()

sbroadcast

dT t :satelliteclockbiasattimetcomputedbythebroadcastclockwith

OD withthe

 followingrelativitycorrection.

2() ()

sTs

broadcast broadcast

rel tt



 rv

(E.4.49)



TheSSRcorrectionswithbroadcastephemeridesandclocksareappliedincasethattheprocessing

optionʺSatelliteEphemeris/ClockʺtoʺBroadcast+SSRAPCʺorʺBroadcast+SSRCoMʺ.



RTKLIBver.2.4.2Manual

149

E.5 Troposphere and Ionosphere Models



RTKLIBsupportsthefollowingtroposphereandionospheremodels.



(1) Tropospheremodel

Thestandardatmospherecanbeexpressedas:



55.2568

1013.25 (1 2.2557 10 )ph



 (E.5.1)

15.0 6.5 10 273.15Th



  (E.5.2)

17.15 4684.0

6.108 exp 38.45 100

rel





 







(E.5.3)



where

isthetotalpressure(hPa),Tistheabsolutetemperature(K)oftheair,histhegeodetic

heightaboveMSL(meansealevel),eisthepartialpressure(hPa)ofwatervaporandrel

histhe

relativehumidity.Thetroposphericdelay

TisexpressedbytheSaastamoinenmodelwith

,Tand

ederivedfromthestandardatmosphere.



0.002277 1255 0.05 tan

cos

Tp ez















(E.5.4)



wherezisthezenithangle(rad)as/2

zEl





.



ThestandardatmosphereandtheSaastamoinenmodelareappliedincasethattheprocessingoption

ʺTroposphereCorrectionʺissettoʺSaastamoinenʺ,wherethegeodeticheightisapproximatedbythe

ellipsoidalheightandtherelativehumidityisfixedto70%.



(2) SBAStropospheremodel

IftheprocessingoptionʺTropospherecorrectionʺ issettoʺSBASʺ,theSBAStropospheremodels

definedintheSBASreceiverspecificationsareapplied.ThemodeloftencalledasʺMOPSmodelʺ.Refer

[8]A.4.2.4fordetails.



(3) Precisetropospheremodel

IftheprocessingoptionʺTroposphereCorrectionʺissettoʺEstimateZTDʺorʺEstimateZTD+Gradʺ,a

moreprecisetropospheremodelisappliedwithstrictmappingfunctionsas:



RTKLIBver.2.4.2Manual

150





() ()1cot( cos sin )

ss s s s

rWr rNr rEr r

m El m El El G Az G Az  (E.5.5)

,,,

() ()( )

ss s

rHrHr rTrHr

T m El Z m El Z Z

(E.5.6)



where:

,Tr

:troposphericzenithtotaldelay(m)

Z:troposphericzenithhydro‐staticdelay(m)

()

mEl

:hydro‐staticmappingfunction

()

mEl

:wetmappingfunction



InRTKLIB,thetroposphericzenithhydro‐staticdelayisgivenbySaastamoinenmodel(E.5.4)withthe

zenithangle0zandrelativehumidity0

rel



.Forthemappingfunction,RTKLIBemploysNMF

(Niellmappingfunction)[70]asdefault.Thezenithtotaldelay,Tr

andthegradientparameters,Nr

G,

G(inthecaseofʺEstimateZTD+Gradʺ)areestimatedasunknownparametersintheparameter

estimationprocess.Forthemappingfunction,RTKLIBcanusesGMF[71]bysettingthecompileroption

‐DIERS_MODELsincever.2.4.2.



(4) Broadcastionospheremodel

ForionospherecorrectionforsinglefrequencyGNSSusers,GPSandQZSSnavigationdataincludethe

followingbroadcastionosphericparameters.



01230123

(,,,,,,,)

ion



p(E.5.5)



Byusingtheseionosphericparameters,the1

Lionosphericdelay

(m)canbederivedthefollowing

procedure[1].ThemodelisoftencalledasKlobucharmodel.



0.0137 / ( 0.11) 0.022El





(E.5.6)

cos





 (E.5.7)

sin / cos

- 

 (E.5.8)

0.064cos( 1.617)

mi i



-

  (E.5.9)

4.32 10 i

 

(E.5.10)

1.0 16.0 (0.53 )FEl   (E.5.11)

2 ( 50400) / n







 (E.5.12)

424

5 10 ( 1.57)

510 1 ( 1.57)

224

Ixx







 









    











(E.5.13)



RTKLIBver.2.4.2Manual

151

CorrectionsbythebroadcastionospheremodelareappliediftheprocessingoptionʺIonosphere

CorrectionʺissettoʺBroadcastʺorʺQZSSBroadcastʺ.



(5) SBASionospheremodel

SBAScorrectionsforionosphericdelayisprovidedbythemessagetype18(ionosphericgridpoint

masks)andthemessagetype26(ionosphericdelaycorrections).RTKLIBusestheSBASionospheric

correctioniftheprocessingoptionʺIonosphereCorrectionʺissettoʺSBASʺandtheseSBASmessages

areprovidedinaninputfile.ForthealgorithmsforthemodelandthedefinitionofIGPs(ionospheric

gridpoints),referA.4.4.9andA.4.4.10oftheSBASreceiverspecifications[8].



(6) Singlelayermodel

TheionosphereisoftenmodeledasasimplesinglelayermodelshowninFigureE.5‐1.Thesinglelayer

modelisalsocalledasathin‐shellmodel.



FigureE.5‐1SingleLayerIonosphereModel



Inthemodel,thelatitudeIPP



(rad)andthelongitudeIPP

(rad)oftheIPP(ionosphericpierce

point)canbederivedfrom:



zEl





(E.5.14)

'arcsin sin











(E.5.15)

'zz



 (E.5.16)

arcsin(cos sin sin cos cos )

IPP r r r



 (E.5.17)

Receiver

Satellite

Ionosphere

Earth

Ionospheric

PiercePoint



z

zʹ

RTKLIBver.2.4.2Manual

152



( 70 tan cos tan( / 2 ))

rrr

and Az





   or( 70 tan cos tan( / 2 ))

rrr

and Az





     

sin sin

arcsin cos

IPP r IPP



-- 

 (E.5.18a)

(otherwise)

sin sin

arcsin cos

IPP r IPP



-- 

 (E.5.18b)



whereE

istheradiusoftheearth(m)and

istheheightoftheionosphereshell(m).RTKLIB

usuallyusesthevalues6378137

Rand350000H



.Notethattheearthsurfaceortheionosphere

shellareapproximatedasasphereinthismodel.



IftheVTEC(verticaltotalelectroncontent)value(, , )

IPP IPP

TEC t

-

attheIPPPandthetimetisgiven,

thei

ionosphericdelay,

I(m)canbeexpressedas:



,1 40.3 10 (, , )

cos '

ri IPP IPP

ITECt

-



(E.5.19)



wherei

isthecarrierfrequencyofsignals(Hz).



TheVTECvaluesareprovidedinseveralformatsorequations.RTKLIBcurrentlyonlysupportsthe

VTECvaluesprovidedbytheIONEXformat[24].IntheIONEXformat,theVTECareexpressedasthe

pointvaluesinalatitudeandlongitudegrid.RTKLIBinterpolatesthesegridpointvaluesintheIONEX

datatoanappropriateIPPpositionbyasimplebi‐linearinterpolation.TheseVTECvaluesare

providedateveryepochtimeintervalsintheIONEXfile.Thetimeinterpolationshouldalsobeapplied

inthesun‐fixedcoordinatesas:



11 1

()(,,())()(,,())

(, , ) i i IPP IPP i i i IPP IPP i

IPP IPP ii

ttTECt tt t tTECt tt

TEC t tt

-  - 

-

 



 



(E.5.20)



wherei

tand



1

()

ttt



 arethetimefortheprovidedTECdataand2 / 86400





isthe

rotationvelocityofthesuntotheearth.CorrectionbythesinglelayermodelwithIONEXdatais

appliediftheprocessingoptionʺIonosphereCorrectionʺissettoʺIONEXTECʺandIONEXdataare

providedasinputfilesonlyinthepost‐processingmode.



(7) Ionosphere‐freeLC(linearcombination)

RTKLIBver.2.4.2Manual

153

ToeliminatetheionosphereeffectsintheGNSSsignalmeasurements,aLC(linearcombination)of

dual‐frequencymeasurementsisoftenutilizedinGNSSdataprocessing.Theionosphere‐freeLCofi



andj

pseudorangeandphase‐rangeareexpressedas:



,,,

rLC i ri j r j

PCPCP (E.5.21)

,,,

rLC i ri j r j



 (E.5.22)



wherei

Candj

CarethecoefficientsoftheionospherefreeLC.Thei

Candj

Carederivedfrom:



iij

(E.5.23)

jij





(E.5.24)



wherei

andj

arethefrequencies(Hz)ofi

andj

measurements.CurrentversionRTKLIB

alwaysuses1

and2

forGPS,GLONASSandQZSS,1

and5

forGalileofortheionosphere‐free

LC.IfsettingtheprocessingoptionʺIonosphereCorrectionʺ toʺIono‐FreeLCʺ intheSingleorPPP

modes,theionosphere‐freeLCisusedforbasicmeasurementstoeliminatetheionosphereterm.Note

thattheionosphere‐freeLCmodelisnotappliedfortheKinematic,StaticorMoving‐basemodes.Refer

theE.7(6)fordetails.



RTKLIBver.2.4.2Manual

154

E.6 Single Point Positioning



RTKLIBemploysaniteratedweightedLSE(leastsquareestimation)fortheʺSingleʺ (singlepoint

positioning)modewithorwithoutSBAScorrections.



(1) LinearLSE

Assumeameasurementvectoryaregivenanditcanbemodeledasthefollowinglinearequationsof

anunknownparametervectorxandarandommeasurementerrorvectorv.





Hx v (E.6.1)



Theleastsquarecostfunction

isdefinedasthesumofthesquaredmeasurementerrorsas:



22 2

... T

LS m

Jvv v vv(E.6.2)



Byusing(E.6.1)and(E.6.2),thecostfunctioncanberewrittenas:



()()

T T TT TT

J 

  

yHx yHx

yy y

Hx x H

xHHx

(E.6.3)



Tominimizethecostfunction,thegradientof

shouldbezero.Then



()( )

T T TT T T TT

TTT

J   



  

0yHHy HHx xHH

yH xHH 0

(E.6.4)



Itgivessocalledaʺnormalequationʺas:



HHx H

(E.6.5)



Tosolvethenormalequation,wecangettheestimatedunknownparametervectorˆ

xbytheLSEas:



ˆ()

TT

xHHH

(E.6.6)



Iftheweightsofeachmeasurementsaregiven,thecostfunction(E.6.3)canberewrittenbyusinga

RTKLIBver.2.4.2Manual

155

weightmatrixW.



WLS

JvWv(E.6.7)



TominimizethecostfunctionWLS

J,wecanobtaintheestimatedunknownparametervectorbythe

weightedLSEbythesimilarwayforthesimpleLSEas:



ˆ()

TT

xHWHHW

(E.6.8)



TheweightmatrixWfortheweightedLSEisoftengivenas:



22 2

( , ,..., )

diag

 

 

W



wherei



isthea‐prioristandarddeviationofthei‐thmeasurementerror.



(2) Gauss‐Newtoniterationfornon‐linearLSE

Incasethatthemeasurementsarenotgivenaslinearmodels,themeasurementequationscanbe

writtenbyageneralnon‐linearvectorfunctionas:



()

hx v

(E.6.9)



where()hx isameasurementvectorfunctionofaparametersvectorx.Theequationcanbeextended

byusingTaylorseriesaroundaninitialparametervector0

xas:



() ( ) ( ) ..hx hx H x x (E.6.10)



whereHisapartialderivativesmatrixof()hx withrespecttoxat 0

xx

:



()





xx

Hx(E.6.11)



Assumetheinitialparametersareadequatelynearthetruevaluesandthesecondandfurthertermsof

theTaylorseriescanbeneglected.Wecanapproximate(E.6.9)as:



() ( )

hx H x x v

(E.6.12)



RTKLIBver.2.4.2Manual

156

Thenwecanobtainthefollowinglinearequation.



() ( )

hx H x x v

(E.6.13)



ByapplyinglinearweightedLSE(E.6.8)for(E.6.13),wecangetthenormalequationfornon‐linear

weightedLSE:



() (())

 HWHx x HW

hx (E.6.14)



Sowecanobtaintheestimatedunknownparametervectorˆ

xby:



ˆ() (())

TT

 xx HWH HW

hx (E.6.15)



Iftheinitialparameters0

xarenotenoughnearthetruevalues,wecaniterativelyimprovethe

estimatedparameterslike:



ˆxx

(E.6.16)

ˆˆˆ

()(())

ii i



 xxHWHHW

hx (E.6.17)



Iftheiterationisconverged,wecanobtainthefinalestimatedparametersas:



ˆˆ

lim i

i

xx

(E.6.18)



TheiteratedLSEisoftencalledasGauss‐Newtonmethod.Notethatsuchtheiterationsarenotalways

convergedbythesimpleGauss‐Newtonmethodespeciallyforill‐conditionedmeasurementequations

havinglargenon‐linearity.Inthesecases,weshouldemployanotherstrategyforsuchnon‐linearLSE.

Themostpopularwayforthenon‐linearLSEisLM(Levenberg‐Marquardt)method[69].



(3) Estimationofreceiverpositionandclockbias

ForʺSingleʺmodeasʺPositioningModeʺ,thefollowingsingle‐pointpositioningprocedureisapplied

toobtainthefinalsolutionbyepoch‐by‐epochbasis.Foranepochtime,theunknownparameters

vectorxisdefinedas:

RTKLIBver.2.4.2Manual

157



(, )

cdtxr (E.6.19)



Thepseudorangemeasurementvectorycanbegivenas:



123

( , , ,..., )

rr r r

PPP Py(E.6.20)



where

Pisthepseudorangemeasurement.IftheprocessingoptionʺIonosphereCorrectionʺ setto

ʺIono‐FreeLCʺ,theionosphere‐freeLC(linearcombination)pseudorangedefinedinAppendixE.5(7)

isused.Inothercases,justthe1

pseudorangeisused.



FigureE.6‐1SatelliteGeometryforSinglePointPositioning



Themeasurementequationanditspartialderivativematrixforthesinglepointpositioningareformed

as:



1111 1

22222

33333

() 1

rr rr r

mmmmmT

rr rr r

cdt cdT I T





  



  







  



  



hx H e



(F.6.21)



wherethegeometricrange



andLOSvector

earegivenbyE.3(4)andE.3(5)withthesatelliteand

receiverpositions.Thesatellitepositions

randtheclockbiases

dT arealsoderivedfromtheGNSS

satelliteephemeridesandclocksdescribedinE.4accordingtotheprocessingoptionʺSatellite

Ephemeris/Clockʺ.



RTKLIBver.2.4.2Manual

158

Tosolvethemeasurementequationtoobtainthefinalestimatedreceiverpositionandthereceiver

clockbias,RTKLIBemploystheiteratedweightedLSEas:



ˆˆˆ

()(())

ii i



 xxHWHHW

hx (E.6.22)



Fortheinitialparametervector0

xfortheiteratedweightedLSE,justall0areusedforthefirstepoch

ofthesinglepointpositioning.Onceasolutionobtained,thepositionisusedforthenextepochinitial

receiverposition.FortheweightmatrixW,RTKLIBusesthefollowingformulas



22 2

( , ,..., )

diag

 

 

W(E.6.23)





222 2222

/sin

r r eph ion trop bias

FR a b El





 

  (E.6.24)



where:

 :satellitesystemerrorfactor

 (1:GPS,Galileo,QZSSandBeiDou,1.5:GLONASS,3.0:SBAS)

 :code/carrier‐phaseerrorratio



:carrier‐phaseerrorfactoraandb(m)

eph



:standarddeviationofephemerisandclockerror(m)

ion



:standarddeviationofionospherecorrectionmodelerror(m)

trop



:standarddeviationoftropospherecorrectionmodelerror(m)

bias



:standarddeviationofcodebiaserror(m)



Forthestandarddeviationofephemerisandclockerror,URA(userrangeaccuracy)orsimilar

indicatorsareusedinRTKLIB.Byseveraliterations,thesolutionisconvergedinthenormalcaseand

theestimatedreceiverpositionˆr

randthereceiverclockbiasˆr

dt areobtained.



ˆˆˆ

lim ( , )

ir r

icdt



xxr (E.6.25)



Theestimatedreceiverclockbiasˆr

dt isnotexplicitlyoutputtothesolutionfile.Instead,itis

incorporatedinthesolutiontime‐tag.Thatmeansthesolutiontime‐tagindicatesnotthereceiver

time‐tagbutthetruesignalreceptiontimemeasuredinGPST.



(4) Estimationofreceivervelocityandclock‐drift

IfDopplerfrequencymeasurementsofGNSSsignalsaregiven,receivervelocitiesandclock‐driftscan

beestimatedthefollowingprocedure.Foranepochtime,theunknownparametersvectorxforthe

RTKLIBver.2.4.2Manual

159

velocityestimationisdefinedas:



(, )

cdtxv (E.6.26)



wherer

vandr

arethereceivervelocityinECEF(m/s)andthereceiverclock‐drift(s/s),respectively.

Therange‐ratemeasurementvectorycanbegivenas:



123

,,, ,

(,,,...,)

iri iri iri iri

DDD D

--- -

   y(E.6.27)



where,

Disthei

Dopplerfrequencymeasurementofthesatellite

.RTKLIBalwaysuses1



Dopplerfrequencymeasurements.Thesemeasurementequationsanditspartialderivativematrixare

formedas:



111

222

333

() 1

rr r

mmmT

rr r

rcdtcdT



 



 







 



 



hx H e







(F.6.28)



Therange‐rage

rbetweenthereceiverandthesatelliteintheseequationsisderivedfrom:





()

ssTss s s s s

rr r yr xrxr yr

r t vx yv vy xv



ev v (F.6.29)



where(,,)

sssT

vvvvand,,,

(,,)

rxryrzr

vvvv.ByusingtheiteratedLSEsimilartotheestimationof

thereceiverposition,wecanobtainthereceivervelocityandclock‐driftas:



ˆˆ

lim ( , )

ir r

icdt



xxv



(E.6.30)



wheretheweightmatrixWissetto

(non‐weightedLSE).



(5) SolutionvalidationandRAIMFDE

Theestimatedreceiverpositionsdescribedin(3)mightincludeinvalidsolutionsduetounmodeled

measurementerrors.Totestwhetherthevalidsolutionornotandrejecttheinvalidsolutions,RTKLIB

appliesthefollowingvalidationafterobtainingthereceiverpositionestimated.Ifthevalidationfailed,

RTKLIBver.2.4.2Manual

160

thesolutionisrejectedwithwarningmessages.







()

ssss

rr r rr

PcdtcdTIT





  

(E.6.31)

123

( , , ,..., )T

vvv vv(E.6.32)

2(1)

Tmn









vv (E.6.33)

thres

GDOP GDOP(E.6.34)



wherenisthenumberofestimatedparametersandmisthenumberofmeasurements.2()n





is

chi‐squaredistributionofthedegreeoffreedomnand0.001





(0.1%).GDOP isgeometricDOP

(dilutionofprecision).thres

GDOP canbesetastheprocessingoptionʺRejectThresholdofGDOPʺ.



Inadditiontothesolutionvalidationdescribedabove,RAIM(receiverautonomousintegrity

monitoring)FDE(faultdetectionandexclusion)functionisaddedinver.2.4.2.Iftheprocessingoption

ʺRAIMFDEʺisenabledandthechi‐squaredtestby(E.6.33)isfailed,RTKLIBretriestheestimationby

excludingonebyoneofthevisiblesatellites.Afterallofretries,theestimatedreceiverpositionwith

theminimumnormalizedsquaredresidualsT

isselectedasthefinalsolution.Insuchscheme,an

invalidmeasurement,whichmightbeduetosatellitemalfunction,receiverfaultorlargemultipath,is

excludedasanoutlier.Notethatthisfeaturedoesnoteffectivewithtwoormoreinvalidmeasurements.

Italsoneedstworedundantvisiblesatellites,thatmeansatleast6visiblesatellitesarenecessaryto

obtainthefinalsolution.



RTKLIBver.2.4.2Manual

161

E.7 Kinematic, Static and Moving-Baseline



RTKLIBemploysEKF(extendedKalmanfilter)inordertoobtainthefinalsolutionsinDGPS/DGNSS,Static,

KinematicandMoving‐baselinemodesinconjunctionwiththeGNSSsignalmeasurementmodelsin

AppendixE.3andthetroposphereandionospheremodelsinAppendixE.5.



(1) EKFformulation[65]

ByusingEKF,astatevectorxforunknownmodelparametersanditscovariancematrixPcanbe

estimatedwithameasurementvectork

yatanepochk

tby:



ˆˆˆ

( ) ( ) ( ( ( )))

kkkkk

   xxKyhx

(E.7.1)

() ( ( ())) ()

kkkk

   PIKHxP

(E.7.2)

ˆˆˆ

() ( ())( ( ()) () ( ()) )

kk k k k k k



    ΚPHx Hx PHx R(E.7.3)



whereˆk

xandk

Paretheestimatedstatevectoranditscovariancematrixattheepochtimek

t.()



and()indicatesbeforeandaftermeasurementupdateofEKF.)(xh ,)(xH andk

Rarethe

measurementsmodelvector,thematrixofpartialderivativesandthecovariancematrixof

measurementerrors,respectively.Assumingthesystem‐modellinear,thetimeupdateofthestate

vectoranditscovariancematrixforEKFisexpressedas:



ˆˆ

() ()

kkk



 xFx(E.7.4)

111

1() ()

kkTk

kkkkk



  PFPFQ

(E.7.5)



where1k

Fand1k

Qarethetransitionmatrixandthecovariancematrixofthesystemnoisefrom

epochtimek

tto1k

t.



(2) DD(double‐difference)measurementmodelforshortbaseline

Forcarrier‐basedrelativepositioningwithashortlength(<10km)baselinebetweentherover

and

thebase‐stationb,thefollowingDDmeasurementequationsaregenerallyusedforthei

L

phase‐rangeandpseudorange.Intheseequations,thesatelliteandreceiverclockbiases,andthe

ionosphericandtroposphericeffectsandotherminorcorrectiontermsarealmosteliminatedbyusing

DDtechnique.



()

jk jk j ks

irbiri

rb i rb rb i

jk jk P

rb i rb

BB d



- 



   



(E.7.6)

RTKLIBver.2.4.2Manual

162



FigureE.7‐1DD(double‐difference)Formulation



wherethe,



isthecarrier‐phasecorrectionterms,whichcanbeneglectedintheshort‐baselinecase

exceptforthereceiverPCVtermswithdifferentantennas.Toobtainthegeometricrange



inthe

equation,thebase‐stationpositionb

risfixedtopredeterminedvaluesexceptforthemoving‐baseline

case.



NotethattheSDbetweenreceivershadbettertobemadebetweenthemeasurementswiththesame

epochtime.However,thereceiversarenotperfectlysynchronizedduetothedifferentreceiverclock

biases.Insometypicalcases,thesamplingintervaloftheroverisdifferentfromthebasestationlike10

Hzand1Hz.TocontroltheSD,RTKLIBtakesasimplecriteriontoselectameasurementpair.RTKLIB

simplyselectsthelastmeasurementbeforeorequaltotheepochtimeoftherovermeasurement.The

epochtimedifferencebetweentheroverandthebasestationissometimescalledasʺAgeof

Differentialʺ.Asthetimedifferencegrows,theaccuracyofthesolutionisgraduallydegradeddueto

thesatelliteclockdriftandthevariationofionospheredelay.Tocompensateonlythesatelliteclock

drift,RTKLIBcorrectstheSDmeasurementbyusingbroadcastSVclockparameters.Themaximum

ʺAgeofDifferentialʺissetastheprocessingoptionʺMAXAgeofDiffʺ.



Astothesatellite‐sideSDgeneration,RTKLIBselectsareferencesatellitewiththemaximumelevation

angleontheepoch‐by‐epochbasis.Notethatnosatellite‐sideSDisgeneratedbetweensatellitesof

differentnavigationsystemslikebetweenGPSandGLONASS.Itisbecausethatthereceiverusually

hasdifferentgroupdelaysforthesignalofdifferentnavigationsystemeveniftheyhavethesame

carrierfrequency.ThegroupdelaydifferenceinreceiversiscalledasareceiverISB(intersystembias).



Assumingtheuseoftriple‐frequencyGPS/GNSSreceiversforbothoftheroverandthebase‐station,

theunknownstatevectorxtobeestimatedcanbedefinedas:



ReceiverrReceiverb

SatellitejSatellitek



Baseline

RTKLIBver.2.4.2Manual

163

125

(, , , , )

TTT T TT

xrvBBB (E.7.7)



where12

,, ,

( , ,..., )

irbirbirbi

BB BBisi

LSD(single‐difference)carrier‐phasebiases(cycle).AstheRTKLIB

implementation,itinternallyusesSDcarrier‐phasebiasesinsteadofDDtoavoidbothersome

hand‐overhandlingofreferencesatellites.TheSDbiasesalsoassisttoresolveintegerambiguitiesin

GLONASSFDMAsignals.



Themeasurementvector

isalsodefinedwithDDphase‐rangeandpseudorangemeasurementsas:



1, 2, 5, 1 2 5

(, , ,,,)

TTTTTTT

yΦΦ Φ PP P (E.7.8)



where:

12 13 14 1

,,, ,

12 13 14 1

,,, ,

( , , ,..., )

i rb i rb i rb i rb i

i rbi rbi rbi rbi

PPP P

 





(3) MeasurementupdateofEKFforshortbaseline

Byusingtheequation(E.7.6),themeasurementmodelvector)(xh ,thematrixofpartialderivatives

)(xH andthecovariancematrixofmeasurementerrorsRcanbewrittenas:



,1 ,2 ,5 ,1 ,2 ,5

() ( , , , , , )

TTTTTTT

PP P

 

hx h h h h h h (E.7.9)

()



































E0 D 0 0

E0 0 D 0

E0 0 0 D

E0 0 0 0

(E.7.10)













DR D

 (E.7.11)



where:

12 1 2 12

13 1 3 13

11 1

()

rb i rb rb rb

iPi

mm m

rb i rb rb rb



- 





















RTKLIBver.2.4.2Manual

164

110 0

10 1 0

10 0 1





















 



:SD(single‐differencing)matrix

rrr ),...,,( 21 eeeE 

12 22 2

,,,,

12 22 2

,,,,

diag(2 ,2 ,...,2 )

iiii

Pi Pi Pi Pi



 









:standarddeviationofi

Lphase‐rangemeasurementerror(m)



:standarddeviationofi

Lpseudorangemeasurementerror(m)



BysolvingtheEKFformulas(E.7.1)withtheseequations,theestimatedroverantennaposition,

velocityandfloatSDcarrier‐phasebiasestheepochtimek

tareobtained.



(4) TimeupdateofEKF

Forthekinematicpositioningmodewithreceiverdynamics(PositioningMode=KinematicandREC

Dynamics=ON)inRTKLIB,thetimeupdateofEKF(E.7.2)isexpressedwith:



33 33

133

(3 3) (3 3)







 











(3 3) (3 3)





 











 (E.7.12)



where:

222

diag( , , )

v r ve r vn r vu r r



QE E



and kkr tt  1



isGPS/GNSSreceiversamplinginterval(s),(,, )

ve vn vu





arethestandarddeviations

ofeast,northandupcomponentsoftherovervelocitysystemnoises(m/s/ s).



Forthepurekinematicmodewithoutreceiverdynamics(PositioningMode=KinematicandREC

Dynamics=OFF),equations(E.7.9)isbereplacedby:



133

(3 3) (3 3)





 











133

(3 3) (3 3)





 













 (E.7.13)



Toavoidnumericalinstabilitybyaddinginfiniteprocessnoisestothevariancesofthereceiverposition,

thereceiverpositionstatesareinsteadresettotheinitialguessvaluesateveryepochsandadequately

RTKLIBver.2.4.2Manual

165

largeprocessnoises(104m2)areaddedtothevarianceinRTKLIB.Theinitialpositionisderivedfrom

thesinglepointpositioningprocesswhichisusedtoavoidtheiterationfornon‐linearsignal

measurementmodel.



Inthestaticmode(PositioningMode=Static),equations(F.7.10)issimplyreplacedby:



133

(3 3) (3 3)





 











133

(3 3) (3 3)





 











 (E.7.14)



Intheinstantaneousambiguityresolutionmode(IntegerAmbiguityResolution=Instantaneous),the

timeupdateoftheSDcarrier‐phasebiasesi

Barehandledinalittledifferentwayfromdescribed

above.Inthismode,valuesofthecarrier‐phasebiasstatesarenotsucceededtothenextepochbythe

EKFtimeupdate.Thebiasesareresettotheinitialguessvaluesateveryepochsandadequatelylarge

processnoises(104m2)areaddedtothevariance.Ifacycle‐slipisdetectedinthemeasurementdata,

thestateofcorrespondingSDcarrier‐phasebiasisalsoresettoinitialvalue.RTKLIBdetectsthe

cycle‐slipsbyLLI(lossoflockindicator)intheinputmeasurementdataandgeometry‐freeLC(linear

combination)phasejumpsifthedualfrequencymeasurementsareavailable.Thecycle‐slipthreshold

canbechangedbytheprocessingoptionʺSlipThresʺ.



(5) Integerambiguityresolution

OncetheestimatedstatesobtainedintheEKFmeasurementupdate,thefloatcarrier‐phaseambiguities

canberesolvedintointegervaluesinordertoimproveaccuracyandconvergencetime(Integer

AmbiguityRes=Continuous,InstantaneousorFixandHold).Atfirst,theestimatedstatesandtheir

covariancematrixaretransformedtoDDformsby:



ˆˆˆˆ

'()(,,)

TTTT

kk rr

xGx rvN(E.7.15)

'() RNR

kk RN N









PGPG QQ

(E.7.16)



where:

66











:SDtoDDtransformationmatrix



RTKLIBver.2.4.2Manual

166

Inthistransformation,theSDcarrier‐phasebiasesaretransferredtotheDDcarrier‐phaseformin

ordertoeliminatereceiverinitialphasetermstoobtainintegerambiguitiesˆ

Nandtheircovariance

Q.Intheseformulas,themostappropriateintegervectorN



fortheintegerambiguitiesisobtained

bysolvinganILS(integerleastsquare)problemexpressedas:



ˆˆ

argmin(( ) ( ))

TN



 

NNNQNN



(E.7.17)



TosolvetheILSproblem,awell‐knownefficientsearchstrategyLAMBDA[66]anditsextension

MLAMBDA[67]areemployedinRTKLIB.LAMBDAandMLAMBDAofferthecombinationofalinear

transformationtoshrinktheintegervectorsearchspaceandaskillfultree‐searchprocedureinthe

transformedspace.Theintegervectorsolutionbytheseproceduresisvalidatedbythefollowing

simpleʺRatio‐Testʺ.IntheʺRatio‐Testʺ,theratio‐factor

,definedastheratiooftheweightedsumof

thesquaredresidualsbythesecondbestsolution2



toonebythebestN



,isusedtocheckthe

reliabilityofthesolution.Thevalidationthresholdthres

RcanbesetbytheprocessingoptionʺMin

RatiotoFixAmbiguityʺ.CurrentversionRTKLIBjustonlysupportsafixedthresholdvalue.



ˆˆ

()()

ˆˆ

()()

TNthres









NNQ NN



 (E.7.18)



Afterthevalidation,theʺFIXEDʺ solutionoftheroverantennapositionandvelocityr



andr



are

obtainedbysolvingthefollowingequation.Ifthevalidationfailed,RTKLIBoutputstheʺFLOATʺ

solutionˆr

randˆr

vinstead.



ˆˆ

()

rrRN N





 





rrQQ NN



(E.7.19)



IncasetheprocessingoptionissetastheʺFixandHoldʺ mode(IntegerAmbiguityResolution=Fix

andHold)andthefixedsolutionproperlyvalidatedbytheprevioustest,theDDcarrier‐phasebias

parametersaretightlyconstrainttothefixedintegervalues.Forthesepurpose,RTKLIBinputsthe

followingʺpseudoʺmeasurementstoEKFandupdatesEKFby(F.7.1).







(E.7.20)

()hx Gx

(E.7.21)

()Hx G

(E.7.22)

222

(,,,...)

ccc

diag



R(E.7.23)

RTKLIBver.2.4.2Manual

167



where:











G0 D

:SDtoDDtransformationmatrix



:constrainttofixedintegerambiguities(=0.001cycle).



TheʺFixandHoldʺ modewasfirstlyintroducedinRTKLIBver.2.4.0inordertoimprovethefixing

ratioespeciallyinthekinematicmodetotrackingmovingreceivers.



(6) LongbaselineDDmeasurementmodel

Forthelongbaselineprocessingbetweentherover

andthebasestationb,thefollowingDD

measurementequationscanbeformedsimilartotheshortbaselineDDmodel.



,, ,,,

()

jk jk jk jk j k s

rb i rb rb k rb i rb i rb i r i

jk jk jk jk

rb i rb rb i rb P

IT BB d

PIT



 - 



    

 (E.7.24)



wheretheterms,

and

Tasthei

Lionospheredelay(m)andtropospheredelay(m)areaddedto

theshortbaselineDDmodel.Preciseephemeridesforsatellitepositionsshouldbeusedtomitigatethe

broadcastephemeriserrorforthebaselineover100km.Inthecarrierphasecorrectionterms,



,the

earthtideseffectsshouldbetakenaccountforthelongerbaselinethan500km.Toeliminatethe

ionosphereterms,anionosphere‐freeLC(linearcombination)issometimesformed.However,RTKLIB

doesnotusesuchexplicitLCbutdoesdirectlyestimatetheionospheretermswithdualortriple

frequencymeasurementsbyEKFforbaselineprocessing.



Theunknownstatevectorxforthelongbaselinecasecanalsobesettledas:



,, ,, 125

(, ,, , ,, , ,, , , )

TT T T T TT

rr rNrErbNbEb

ZG G ZG Gxrv IBBB (E.7.25)



wherer

andb

areZTD(zenithtotaldelay)attheroverandbase‐stationsites,,Nr

G,,Er

G,,Nb

G

and,Eb

Garethenorthandeastcomponentsoftroposphericgradients.12

(,,...,)

rb rb rb

II IIistheSD

verticalionosphericdelayin1

frequency(m)aswell.



Themeasurementmodelvector)(xh andthematrixofpartialderivatives)(xH canbewrittenas:



,1 ,2 ,5 ,1 ,2 ,5

() ( , , , , , )

TTTTTTT

PP P

 

hx h h h h h h (E.7.26)

RTKLIBver.2.4.2Manual

168

12 12 1 1 2 2 1 2 12

,, .

13 13 1 1 3 3 1 3 13

,, .

11 11 1 1

,, .

()()

rb rb k I rb I rb i rb i rb i rb i

mm mm m m

rb rb k I rb I rb i rb i rb i rb i

TmImI BBd

TmImIBBd



 - 



    



    







    



h(E.7.27)

12 12 1 1 2 2

13 13 1 1 3 3

11 11

()

rb rb k I rb I rb

mm mm

rb rb k I rb I rb

TmImI





 



 







 



h(E.7.28)

,,11

,,2 2

,,5 5

,,1

,,2

,,5

()

Tr Tb I

-





























DE 0 DM DM DM D

E 0 DM DM DM D

Hx DE 0 DM DM DM

DE 0 DM DM DM

  (E.7.29)



where:





1 1 11 1 1 11 1 1

,, ,

2 2 22 2 2 22 2 2

,, ,

() ()cot cos ()cot sin

WGrr Wrr r r Wrr r r

WG r r W r r r r W r r r r

m m mm m mmm m m

WG r r W r r r r W r r r r

m El m El El Az m El El Az











M 











( , ,..., )

IIII

mm mM



ThetimeupdateofEKFforthelong‐baselinecaseisexpressedas:



33 33

166

(3 3) (3 3)











 











(E.7.30)

(3 3) (3 3)





 











(E.7.31)



whereT

Qand

Qaretheprocessnoisecovariancematrixesoftheionosphereandthetroposphere

terms.Intheequation,theZTDandgradientparametersfortheroverandthebase‐stationandSD

verticalionosphericdelaysforeachsatellitesaresimplymodeledasrandom‐walk.Inadditionto

estimateionosphereandtroposphereterms,aʺPartialfixingʺ featurewasaddedforlongbaseline

processinginversion2.4.1.Itmeansthatonlythesomepartialportionofallambiguitiesareresolved

intointegervalues.Otherambiguitiesexceptforthefixedarestillpendingasfloatvalues.To

RTKLIBver.2.4.2Manual

169

determinewhetheraambiguityfixedornotfixed,asimplecriterionbyusingthesatelliteelevation

angleisimplementedinRTKLIB.Ifasatelliteisunderathresholdoftheelevation,theambiguitiesof

thesatellitearenotfixed.Onlytheambiguitiesofsatellitesoverthethresholdareresolvedtointeger.

TheelevationthresholdfortheambiguityresolutioncanbesetastheprocessingoptionʺMinElevation

toFixAmbʺaswellasʺMinElevationtoHoldAmbʺtocontroltheʺFixandHoldʺfeature.



(7) Moving‐baselinemodel

Themovingbaselinemodeisusuallyusedifbothoftheroverandthebasestationreceiversare

movingandtheonlyrelativepositionoftheroverwithrespecttothebasestationisrequired.The

moving‐baselinemodecanbeutilizedtodeterminethepreciseattitudebymountingtwoantennasto

amovingplatform.InRTKLIB,themoving‐baselinemodeisappliediftheprocessingoption

ʺPositioningModeʺissettoʺMoving‐Baseʺ.



Inthemoving‐baselinemode,thebase‐stationpositionisnotfixedbutisestimatedbythesinglepoint

positioningprocessonepoch‐by‐epochbasis.Oncethebasestationpositionisobtained,thebase

stationpositionfixedtotheestimatepositionandtheroverpositionisestimatedbyshortbaseline

kinematicmodedescribedin(1)‐(5).Inthiscaseonlytherelativepositionismeaningful,thatmeansthe

absolutepositionsolutionsofroverandbase‐stationhaveonlytheaccuracyassameasthesolutionby

thepointpointingmode.



Inadditiontothesimpleimplementationforthemoving‐baselinemode,RTKLIBcorrectsthetime

differencebetweentheroverandthebasestation.Theroverreceiverandthebasestationreceiverare

notsynchronized.Thereceiverclockdifferenceusuallyreaches2msasmaximum.The

unsynchronizedclocksbringtheaccuracydegradationincaseofveryfastmovingplatform.Tocorrect

theclockdifference,thebasestationpositionb

riscorrectedbeforethebaselineprocessingby:



() () ()( )

br bb bb r b

ttttt rrv (E.7.32)



wherer

tandb

tarethesignalreceptiontimeattheroverandthebasestationestimatedbythesingle

pointpositioningprocess.()

tvisalsothevelocityofthebasestationestimatedwithDoppler

measurements.Fortheattitudedeterminationbythemovingbaselinemode,thebaselinelength

constraintcanbeappliediftheprocessingoptionʺBaselineLengthConstraintʺenabled.Theconstraint

appliesthefollowingpseudo‐measurementintheEKFmeasurementupdate.





baseline

ry(E.7.33)



() () ()

rr br

tthrr

(E.7.34)

RTKLIBver.2.4.2Manual

170

(() ())

() ()

rr br













Hrr

(E.7.35)







R(E.7.36)



wherebaseline

risthegivenpre‐determinedbaselinelength(m)andr



istheconstraintofthebaseline

length(m).Tocopewiththenon‐linearityincaseofaveryshortlengthbaseline,iterativemeasurement

updateofEKFissupportedbysettingtheprocessingoptionʺNumberofFilterIterationʺtomorethan

1.



RTKLIBver.2.4.2Manual

171

E.8 PPP (Precise Point Positioning)



InPPPmodes,RTKLIBalsouseEKFestimationprocesssimilartotheschemesdescribedinAppendixE.7.

Thedifferencefromthebaselineprocessing,PPPemploysZD(zero‐difference)measurementequationslike

thesinglepointpositioningmodelinsteadofDD.



(1) ZDmeasurementmodelsforPPP

Theionosphere‐freeLCphase‐range,

rLC



andpseudorange,

rLC

Pmeasurementsforthesatellite



areexpressedbyusing(E.3.4)and(E.3.2)as:



,,,

(() ())

ss ssss s

rLC r r r r rLC rLC

ss sss

rLC r r r r P

cdt t dT t T B d

PcdttdTtT



 



    

  

(E.8.1)



wheretheionospheretermsin(E.3.4)and(E.3.2)areeliminatedbyformingtheionosphere‐freeLC

describedinE.5(7).,

rLC

Bisthecarrier‐phasebiasinmand,

rLC



istheionosphere‐freeLCofi



andj

carrier‐phasecorrectiontermsexpressedas:











,,,,,, ,, ,,,,

,,,,

() ()

ssssss

r LC i r pco i j r pco i r enu i pco i j pco j r i r pcv i j r pcv j

ss Ts

pcv i pcv j r disp r enu i i j j pw

dCC CC CdElCdEl

dd CC



 --

      

 

ddeEdde

(E.8.2)



(2) Receiverantennaphasecentermodel

FigureE.8‐1showsthereceiverantennaPCO(phasecenteroffset)andPCV(phasecentervariation).

TheantennaPCOisdefinedastherelativepositionofthereceiverantennaphasecenterwithrespect

totheARP(antennareferencepoint).ThePCVisdefinedastheexcessphasedelaybytheantenna

dependingontheelevationandazimuthangle.ThePCOandPCVvaluesforvariousantennatypes

havebeenmeasuredbytheappropriateantennacalibrationprocessandprovidedbysomestandard

formats.CurrentversionRTKLIBsupportstheNGSPCVandtheANTEXformatfortheantenna

modelincludingPCOandPCVdata.ThePCOvalueisusuallyprovideinthelocalcoordinatesatthe

receiverposition.Sothei

PCOofthereceiverantennainECEF,,rpcoi

disexpressedas:



,, ,,,

r pco i r r pco i enu

dEd (E.8.3)



wherer

istheECEFtolocalcoordinatesrotationmatrixgivenby(E.2.10)and,,,rpcoienu

disi



RTKLIBver.2.4.2Manual

172

receiverantennaPCOexpressedinthelocalcoordinates.Thei

receiverantennaPCV,,

()

rpcvi

dEl

at

theelevationangleEl isderivedbythelinearinterpolationofgivenPCVvaluesdependingonthe

elevationanglesas:



,, 1 ,, 1

,, 1

()()( )()

() irpcvi i i rpcvi i

rpcvi ii

El El d El El El d El

dEl El El





  (E.8.4)



where1ii

lElEl



 .



FigureF.8‐1ReceiverAntennaPhaseCenter



(3) Satelliteantennaphasecentermodel

FigureF.8‐1showstheGNSSsatelliteantennaPCOandPCV,whicharealsoprovidedastheANTEX

filetypicallybyIGS(internationalGNSSservice)likethereceiverantenna.RTKLIBalsocanimport

suchtheantennamodelforsatellites.ThesatelliteantennaPCOisusuallygiveninsatellitefixed

coordinateswithrespecttothesatelliteCoM(centerofmass)showninFigureF.8‐3.Sothesatellite

antennaPCOinthesatellitefixedcoordinatesshouldbetransferredtoECEFcoordinates.ThePCVis

alsoexpressedwithrespecttothenadirangle.



Antenna

Phase

Center

Antenna

Reference

Point (ARP)

z(U)

x(E)

y(N)

AntennaPhase

CenterOffset

pcor,

pcvr

RTKLIBver.2.4.2Manual

173



FigureF.8‐2SatelliteAntennaPhaseCenter



FigureF.8.3SatelliteBody‐FixedCoordinateSystem



Assumingthenominalsatelliteattitudecontrolmode,thecoordinatestransformationmatrix

from

thesatellitebody‐fixedcoordinatestoECEFcoordinatesisgivenas:



 r

r(E.8.5)

sun





(E.8.6)

szs





(E.8.7)

eee

(E.8.8)

(,,)

xyz



eee (E.8.9)



where

risthesunpositioninECEFcoordinates.Thenadirangle



canalsobederivedas:



Sun

Satellite

AntennaPhase

Center

Mass Center of

Satellite

AntennaPhase

CenterOffset

Nadir Angle

pcv

pco

Earth

RTKLIBver.2.4.2Manual

174

arccos



er

r(E.8.10)



(4) Sitedisplacementbyearthtides

Thepositionofareceiverfixedtothegroundisvariedbytheearthtideeffects.Thetideseffectsare

usuallyneglectedforthebaselineanalysisbecausetheDDcancancelthealmostalloftheeffects.

However,inthePPPmode,theeffectshouldbeincorporatedinthemodelbecausetheamplitude

sometimesreachesseveral10cmastheverticalcomponent.FigureE.8‐2showstheexampleofthesite

displacementeffectbyearthtides.



FigureE.8‐2DisplacementbyEarthTides



IncurrentversionRTKLIB,solidearthtides,OTL(oceantideloading)andpoletidesaremodeledand

considerediftheprocessingoptionʺEarthTideCorrectionʺtoʺSolidʺorʺSolid/OTLʺ.Theearthtide

modelsisbasedonIERSConventions1996[73].Bysettingthecompileroption‐DIERS_MODELand

rebuildingAPs,RTKLIBusestheIERSConventions2010[74]solidearthtidesmodelbylinkingthe

FORTRANsubroutineDEHANTTIDEINELprovidedasIERS.FortheOTLmodel,OTLcoefficientsas

providedastheBLQformat[63]shouldbeinputasspecifiedastheprocessingoptionʺOTLBLQFileʺ.



(5) Phasewindupcorrection

Thephasewindupeffectisthephaseadvanceanddelaybytherelativerotationbetweenthereceiver

andsatelliteantennas.Thephasewindupismodeledas:

RTKLIBver.2.4.2Manual

175



,,,

(,,)

TTTT

rrxryrz

Ee e e (E.8.11)

(,,)

sT sT sT T

xyz

Eeee (E.8.12)

()

ssss ss

uu x u y

  

eeee ee

(E.8.13)

,,,

()

ss s

rrxrrrx rry

  

eeee ee

(E.8.14)

( ( ))arccos / 2

ss r

pw r r sr

ign N





 

eDD

DD (E.8.15)



whereNistheintegerambiguity,whichisdeterminedastoavoidingcycle‐jumps.



(6) EstimationofreceiverpositionbyPPP

ByusingEKF,theunknownstatevectorxforthePPPcaseissettledas:



(,, ,, , , )

TT TT

rr rrNrErLC

cdt Z G Gxrv B (E.8.16)



wherer

isZTD(zenithtotaldelay),,Nr

Gand,Er

Garethenorthandeastcomponentsof

troposphericgradients.12

,, ,

(,,...,)

LC r LC r LC r LC

BB BBisionosphere‐freeLCofZD(zero‐differenced)

carrier‐phasebiases(m).



Themeasurementvector

isalsodefinedwithZDionosphere‐freeLCphase‐rangeandpseudorange

measurementswith(E.5.21)and(E.5.22)as:



(,)

TTT

LC LC

yΦP(E.8.17)



where:

123

,,, ,

123

,,, ,

( , , ,..., )

LC r LC r LC r LC r LC

i r LC r LC r LC r LC

PPP P

 





Themeasurementmodelvector)(xh andthematrixofpartialderivatives)(xH canbewrittenas:



() ( , )

TTT



hx h h (E.8.18)

11111

22222

()

rr rrLCrLC

mmmmm

rr rrLCrLC

cdt dT T B d























h(E.8.19)

RTKLIBver.2.4.2Manual

176

111

222

()

rr r

mmm

rr r

cdt dT T





















h(E.8.20)

() T











E01DM I

E01DM 0

(E.8.21)











RR(E.8.22)



where:











1

1 1 11 1 1 11 1 1

,, ,

2 2 22 2 2 22 2 2

,, ,

() ()cot cos ()cot sin

WGrr Wrr r r Wrr r r

WG r r W r r r r W r r r r

m m mm m mmm m m

WG r r W r r r r W r r r r

m El m El El Az m El El Az











M 







12 22 2

,,1,1,1

12 22 2

,,1,1,1

diag(3 ,3 ,...,3 )

PLC P P P



 









:standarddeviationof1

Lphase‐rangemeasurementerror(m)



:standarddeviationof1

Lpseudorangemeasurementerror(m)



ByusingtheEKFformulationandthesimilartimeupdateprocessesdescribedinE.7,theunknown

parametersincludingthereceiverpositionandvelocity,thereceiverclockbias,thetroposphere

parametersandtheionosphere‐freeLCcarrier‐phasebiasesareestimated.



Notethattoresolvetheintegerambiguityinthecarrier‐phasebiaseslikethebaselineprocessingcases,

theadditionalinformationforthesatellite‐sideFCB(fractionalcyclebias)isneeded.Theprocessis

sometimescalledasPPP‐AR(ambiguityresolution).CurrentversionRTKLIBonlysupportsthe

wide‐laneFCBandtheIRC(integerrecoveryclock)productsprovidedbyCNES.Theimplementationis

experimentalandunstable.ThePPP‐ARfeatureisenabledincaseoftheprocessingoptionʺInteger

AmbiguityResolutionʺissettoʺPPP‐ARʺonlyinthepost‐processingmode.



RTKLIBver.2.4.2Manual

177

Appendix F GNSS Signal Specifications



SystemFreq.

(MHz)Signal

Band

Width

(MHz)

I/Q

Min.

Power

(dBW)

Modulation

SpreadingCodeNavigationData

Notes

Primary

(chips)

Second

(chips)

Rate

(Mcps)Period ENC DataRate

(sps)

Rate

(bps) FEC

GPS[1][2][3]

1575.42

L1C/A2.046Q‐158.5BPSK(1)1,023‐1.0231ms‐ NAV5050‐

L1P(Y)20.46I‐161.5BPSK(10)1week‐10.231week (Y)NAV5050‐

L1M???BOC(10,5)??5.115?Y????BlockIIR‐M‐

L1C‐D30.69I‐163BOC(1,1)10,230‐1.02310ms‐CNAV‐2100501/2BlockIII‐

L1C‐P30.69I‐158.25 TMBOC

(6,1,1/11)10,2301,8001.02318s‐ ‐ ‐‐‐BlockIII‐

1227.6

L2C/A2.046Q‐160.0BPSK(1)1,023‐1.0231ms‐(NAV)‐50‐50‐BlockIIR‐M‐

L2P(Y)20.46I‐164.5/

‐161.5BPSK(10)1week‐10.231week (Y)(NAV)‐50‐50‐



L2M???BOC(10,5)??5.115?Y????BlockIIR‐M‐

L2C2.046Q/I ‐160.0BPSK(1)10,230‐0.511520ms‐(CNAV)‐50‐251/2timemux,

BlockIIR‐M‐

767,250‐0.51151.5s‐ ‐ ‐‐‐

1176.45

L5‐I20.46I‐157.9/

‐157.0BPSK(10)10,2301010.2310ms‐ CNAV100501/2BlockIIF‐

L5‐Q20.46Q‐157.9/

‐157.0BPSK(10)10,2302010.2320ms‐ ‐ ‐‐‐BlockIIF‐

GLONASS

[4]

1602.00+

0.5625K

L1C/A 1.022I‐161.0BPSK511‐0.5111ms‐ NAV5050‐

L1P10.22Q?BPSK5,110,000 ‐ 5.111s(Y)NAV5050‐

1246.00+

0.4375K

L2C/A 1.022I‐167.0BPSK511‐0.5111ms‐ NAV5050‐

L2P 10.22Q?BPSK5,110,000 ‐ 5.111s(Y)NAV5050‐

1202.025L3‐I20.46I?BPSK(10)10,230510.235ms‐ NAV100501/2

GLONASS‐K‐

L3‐Q20.46Q?BPSK(10)10,2301010.2310ms‐ ‐ ‐‐‐

Galileo[5]1575.42

E1‐A35.805Q?BOC(15,2.5)??2.5575?YG/NAV???PRS

E1‐B24.552I

‐157.0

CBOC(6,1,1/11) 4,092‐1.0234ms‐I/NAV2501251/2OS,SoL,CS

E1‐C24.552QCBOC(6,1,1/11) 4,092251.023100ms ‐ ‐ ‐ ‐ ‐

RTKLIBver.2.4.2Manual

178

SystemFreq.

(MHz)Signal

Band

Width

(MHz)

I/Q

Min.

Power

(dBW)

Modulation

SpreadingCodeNavigationData

Notes

Primary

(chips)

Second

(chips)

Rate

(Mcps)Period ENC DataRate

(sps)

Rate

(bps) FEC

Galileo

1191.795E5a+

E5b51.15I‐155.08‐PSK(10)10,23010010.23100ms ‐ ‐ ‐ ‐ ‐ AltBOC

1176.45E5a‐I20.46I

‐155.0BPSK(10)10,2302010.2320ms‐ F/NAV50251/2OS,CS

E5a‐Q20.46QBPSK(10)10,23010010.23100ms ‐ ‐ ‐ ‐ ‐

1207.14E5b‐I20.46I

‐155.0BPSK(10)10,230410.234ms‐I/NAV2501251/2OS,SoL,CS

E5b‐Q20.46QBPSK(10)10,23010010.23100ms ‐ ‐ ‐ ‐ ‐

1278.75

E6‐A?Q?BOC(10,5)??5.115?YG/NAV???PRS

E6‐B40.92I

‐155.0BPSK(5)5,115‐5.1151msYC/NAV1,000 ??CS

E6‐C40.92IBPSK(5)5,1151005.115100ms Y ‐ ‐‐‐

QZSS[6]

1575.42

L1C/A2.046Q‐158.5BPSK(1)1,023‐1.0231ms‐ NAV5050‐

L1C‐D4.096I‐163.0BOC(1,1)10,230‐1.02310ms‐CNAV‐2100501/2

L1C‐P4.096Q‐158.25 BOC(1,1)10.231,8001.02318s‐ ‐ ‐‐‐

L1‐SAIF2.046I‐161.0BPSK(1)1,023‐1.0231ms‐L1‐SAIF5002501/2

1227.6L2C2.046I‐160.0BPSK(1)10,230‐0.511520ms‐ CNAV50501/2chip‐by‐chip

timemux

767,250‐0.51151.5s‐ ‐ ‐‐‐

1176.45L5‐I20.46I‐157.9BPSK(10)10,2301010.2310ms‐ CNAV50251/2

L5‐Q20.46Q‐157.9BPSK(10)10,2302010.2320ms‐ ‐ ‐‐‐

1278.75LEX42.0I‐155.7BPSK(5)10,230‐2.55754ms‐ LEX2,000 1,744 RSchip‐by‐chip

timemux

1,048,575 ‐ 2.5575410ms ‐ ‐ ‐ ‐ ‐

BeiDou[7]

1561.098B14.092Q

‐163.0QPSK(2)2,046202.04620ms‐D1‐NAV 5050BCH IGSO,MEO

‐ 2.0461ms‐D2‐NAV 500500BCH GEO

I2,046‐2.046>0.4s‐ ‐ ‐‐‐

1207.14B224.0Q

?QPSK(10)2,046202.04620ms?????

I10,230‐10.23>0.16s ‐ ‐ ‐ ‐ ‐

1268.52B324.0Q

?QPSK(10)10,2302010.2320ms?????

I10,230‐10.23>0.16s ‐ ‐ ‐ ‐ ‐

SBAS[8]1575.42L12.046I‐161.0BPSK(1)1,023‐1.0231ms‐ SBAS5002501/2

1176.45L520.46I?BPSK(10)10,230‐10.2310ms‐ SBAS5002501/2WAAS

K=‐7,...,+6,ENC:encryption,FEC:forwarderrorcorrection,1/2:1/2convolutionalcode,RS:ReedSolomoncode,BCH:BCHcodeandinterleave

RTKLIBver.2.4.2Manual

179

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Manualx Manual RTKLIB 2.4.2

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