Manual RTKLIB 2.4.2

RTKLIBver.2.4.
2Manual
April29,2013
Contents
1
Overview..............................................................................................................................................................1
UserRequirements..............................................................................................................................................3
2.1
SystemRequirements.................................................................................................................................3
2.2
License..........................................................................................................................................................4
Instructions..........................................................................................................................................................5
3.1
InstallationandUninstallation..................................................................................................................5
3.2
RealTimePositioningwithRTKNAVI.....................................................................................................7
3.3
ConfigureInput,OutputandLogStreamsforRTKNAVI...................................................................22
3.4
PostProcessingAnalysiswithRTKPOST..............................................................................................29
3.5
ConfigurePositioningOptionsforRTKNAVIandRTKPOST............................................................34
3.6
ConvertReceiverRawDatatoRINEXwithRTKCONV.....................................................................50
3.7
ViewandPlotSolutionswithRTKPLOT...............................................................................................55
3.8
ViewandPlotObservationDatawithRTKPLOT.................................................................................69
3.9
DownloadGNSSProductsandDatawithRTKGET............................................................................77
3.10
NTRIPBrowser..........................................................................................................................................83
3.11
UseCUIAPsofRTKLIB...........................................................................................................................86
BuildAPsorDevelopUserAPswithRTKLIB..............................................................................................87
4.1
RebuildGUIandCUIAPsonWindows................................................................................................87
4.2
BuildCUIAPs............................................................................................................................................88
4.3
DevelopandLinkUserAPswithRTKLIB.............................................................................................89
AppendixA
CUICommandReferences...........................................................................................................90
A.1
RTKRCV.....................................................................................................................................................90
A.2
RNX2RTKP.................................................................................................................................................93
A.3
POS2KML...................................................................................................................................................95
A.4
CONVBIN..................................................................................................................................................96
A.5
STR2STR.....................................................................................................................................................99
Copyright(C)20072013,T.Takasu.Allrightsreserved.

AppendixB
FileFormats..................................................................................................................................101
B.1
PositioningSolutionFile.........................................................................................................................101
B.2
SBASLogFile...........................................................................................................................................104
B.3
SolutionStatusFile..................................................................................................................................106
B.4
ConfigurationFile...................................................................................................................................109
B.5
URLListFileforGNSSData..................................................................................................................112
AppendixC
APIReferences.............................................................................................................................114
AppendixD
FilesandMessages......................................................................................................................122
D.1
SupportedRINEXFiles...........................................................................................................................122
D.2
SupportedReceiverMessages...............................................................................................................123
D.3
SupportedSignalIDs/ObservationTypes............................................................................................125
D.4
DefaultPrioritiesofMultipleSignals...................................................................................................127
D.5
ReceiverDependentInputOptions......................................................................................................128
AppendixE
ModelsandAlgorithms..............................................................................................................129
E.1
TimeSystem.............................................................................................................................................131
E.2
CoordinatesSystem................................................................................................................................134
E.3
GNSSSignalMeasurementModels......................................................................................................137
E.4
GNSSSatelliteEphemeridesandClocks..............................................................................................142
E.5
TroposphereandIonosphereModels...................................................................................................149
E.6
SinglePointPositioning..........................................................................................................................154
E.7
Kinematic,StaticandMovingBaseline................................................................................................161
E.8
PPP(PrecisePointPositioning)..............................................................................................................171
AppendixF
GNSSSignalSpecifications........................................................................................................177
References................................................................................................................................................................179
ii
RTKLIBver.2.4.2Manual
Overview
RTKLIB is an open source program package for standard and precise positioning with GNSS (global
navigation satellite system). RTKLIB consists of a portableprogram library and severalAPs (application
programs)utilizingthelibrary.ThefeaturesofRTKLIBare:
(1) Itsupportsstandardandprecisepositioningalgorithmswith:
GPS[1][2][3],GLONASS[4],Galileo[5],QZSS[6],BeiDou[7]andSBAS[8]
(2) ItsupportsvariouspositioningmodeswithGNSSforbothrealtimeandpostprocessing:
Single, DGPS/DGNSS, Kinematic, Static, MovingBaseline, Fixed, PPPKinematic, PPPStatic and
PPPFixed.
(3) ItsupportsmanystandardformatsandprotocolsforGNSS:
RINEX2.10[9],2.11[10],2.12[11]OBS/NAV/GNAV/HNAV/LNAV/QNAV,RINEX3.00[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 15) [17], RTCM
ver.3.2[18],BINEX[19],NTRIP1.0[20],NMEA0183[21],SP3c[22],ANTEX1.4[23],IONEX1.0[24],NGSPCV
andEMS2.0[26](referAppendixD.1andD.2fordetails).
[25]
(4) ItsupportsseveralGNSSreceiversproprietarymessages:
NovAtel [27]:OEM4/V/6,OEM3,OEMStar,SuperstarII,Hemisphere [28]:Eclipse,Crescent,ublox [29]:
LEA4T/5T/6T, SkyTraq [30]: S1315F, JAVAD [31] GRIL/GREIS, Furuno [32] GW10II/III and NVS [33]
NV08CBINR(referAppendixD.2fordetails).
(5) Itsupportsexternalcommunicationvia:
Serial,TCP/IP,NTRIP,locallogfile(recordandplayback)andFTP/HTTP(automaticdownload).
(6) ItprovidesmanylibraryfunctionsandAPIs(applicationprograminterfaces):
Satellite and navigation system functions, matrix and vector functions, time and string functions,
coordinatestransformation,inputandoutputfunctions,debugtracefunctions,platformdependent
functions,positioningmodels,atmospheremodels,antennamodels,earthtidesmodels,geoidmodels,
datumtransformation,RINEXfunctions,ephemerisandclockfunctions,preciseephemerisandclock
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
ambiguityresolution,standardpositioning,precisepositioning,postprocessingpositioning,stream
serverfunctions,RTKserverfunctions,downloaderfunctions.
(7) ItincludesthefollowingGUI(graphicaluserinterface)andCUI(commandlineuserinterface)APs.()
showsthesectiondescribingtheinstructionforeachAPinthemanual.
(a)
Function
GUIAP
RTKLAUNCH
(3.1)
RTKNAVI
(3.2,3.3,3.5)
STRSVR,
(3.3)
RTKPOST
(3.4,3.5)
RTKCONV
(3.6)
RTKPLOT
(3.7,3.8)
RTKGET
(3.9)
SRCTBLBROWS
(3.10)
APLauncher
(b) RealTimePositioning
(c)
CommunicationServer
(d) PostProcessingAnalysis
(e)
RINEXConverter
PlotSolutionsand
ObservationData
DownloaderforGNSS
(g)
ProductsandData
(f)
(h) NTRIPBrowser
CUIAP
Notes
RTKRCV
(3.11,A.1)
STR2STR
(3.11,A.5)
RNX2RTKP
(3.11,A.2)
CONVBIN
(3.11,A.4)
(8) AlloftheexecutablebinaryAPsforWindowsareincludedinthepackageaswellaswholesource
programsofthelibraryandtheAPs.
RTKLIBGUIAPsonWindows7
User Requirements
2.1
System Requirements
The executable binary GUI and CUI APs included in the package require Microsoft Windows
[35]
environment.OntheotherOSorenvironment,youhavetocompileandbuildCUIAPsbyyourself.
AllofthelibraryfunctionsandAPIswerewritteninANSIC(C89).Thelibraryinternallyuseswinsockand
WIN32 thread for Windows with the compiler option DWIN32 and the standard socket and pthread
(POSIXthread)forLinux/UNIXwithoutanyoption.BysettingthecompileroptionDLAPACKorDMKL,
thelibraryusesLAPACK/BLAS[36]orIntelMKL[37]forfastmatrixcomputation.
TheCUIAPswerealsowritteninANSIC.ThelibraryandCUIAPscanbebuiltonmanyenvironmentslike
gcconLinux.TheGUIAPswerewritteninC++andutilizeEmbarcadero/BorlandVCL(visualcomponent
library)[38]forGUItoolkits.AlloftheexecutablebinaryAPsinthepackagewerebuiltbyEmbarcaderoC++
builderXE2StarterEditiononWindows7.
The executable GUI APs were tested on Windows 7 (64bit). The CUI APs were also built and tested on
Ubuntu[39]11.04Linuxandx86CPU.
Notes:PreviousversionsofRTKLIBuntilver.2.4.1werebuiltbyafreeeditionofBorlandC++(TurboC++
2006).TurboC++,however,isnolongersupportedinver.2.4.2becauseoftypeincompatibilityproblemof
GUIstringsbetweenver.2.4.2andthepreviousones.
2.2
License
The RTKLIB software package is distributed under the following BSD 2clause license [40] and additional
two exclusive clauses. Users are permitted to develop, produce or sell their own noncommercial or
commercialproductsutilizing,linkingorincludingRTKLIBaslongastheycomplywiththelicense.
Notes:PreviousversionsofRTKLIBuntilver.2.4.1hadbeendistributedunderGPLv3[59]license.
Copyright(c)20072013,T.Takasu,Allrightsreserved.
Redistributionanduseinsourceandbinaryforms,withorwithoutmodification,arepermittedprovided
thatthefollowingconditionsaremet:
Redistributionsofsourcecodemustretaintheabovecopyrightnotice,thislistofconditionsandthe
followingdisclaimer.
Redistributionsinbinaryformmustreproducetheabovecopyrightnotice,thislistofconditionsand
thefollowingdisclaimerinthedocumentationand/orothermaterialsprovidedwiththedistribution.
The software package includes some companion executive binaries or shared libraries necessary to
executeAPsonWindows.Theselicensessucceedtotheoriginalonesofthesesoftware.
THISSOFTWAREISPROVIDEDBYTHECOPYRIGHTHOLDERSANDCONTRIBUTORSASISAND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED.INNOEVENTSHALLTHECOPYRIGHTHOLDERORCONTRIBUTORSBELIABLEFOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING,BUTNOTLIMITEDTO,PROCUREMENTOFSUBSTITUTEGOODSORSERVICES;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
NEGLIGENCEOROTHERWISE)ARISINGINANYWAYOUTOFTHEUSEOFTHISSOFTWARE,EVEN
IFADVISEDOFTHEPOSSIBILITYOFSUCHDAMAGE.
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>indicatestheversionnumber).TheRTKLIBdirectorystructureisas
follows.
rtklib_<ver>
\src
\rcv
:SourceprogramsofRTKLIBlibrary*
:SourceprogramsdependingonGPS/GNSSreceivers*
\bin
:ExecutablebinaryAPsandDLLsforWindows
\data
:SampledataforAPs
\app
:BuildenvironmentforAPs*
\rtknavi
:RTKNAVI
(GUI)*
\rtknavi_mkl
:RTKNAVI_MKL
(GUI)*
\strsvr
:STRSVR
(GUI)*
\rtkpost
:RTKPOST
(GUI)*
\rtkpost_mkl
:RTKPOST_MKL
(GUI)*
\rtkplot
:RTKPLOT
(GUI)*
\rtkconv
:RTKCONV
(GUI)*
\srctblbrows
:NTRIPBrowser
(GUI)*
\rtkget
:RTKGET
(GUI)*
\rtklaunch
:RTKLAUNCH
(GUI)*
\rtkrcv
:RTKRCV
(CUI)*
\rnx2rtkp
:RNX2RTKP
(CUI)*
\pos2kml
:POS2KML
(CUI)*
\convbin
:CONVBIN
(CUI)*
\str2str
:STR2STR
(CUI)*
\appcmn
:CommonroutinesforGUIAPs*
\icon
:IcondataforGUIAPs*
\lib
:Librariesgenerationenvironment*
\test
:Testprogramanddata*
\util
:Utilities*
\doc
:Documentfiles
*Notincludedinthebinarypackagertklib_<ver>_bin.zip
(2) CreatetheshotcutsoftheGUIAPexecutablebinariesin <install dir>\rtklib_<ver>\bin.To
executeCUIAPs,add<install dir>\rtklib_<ver>\bintothecommandpath.
(3) TheGUIandCUIAPsinRTKLIBneverutilizetheWindowsregistry.Touninstallthepackage,simply
deletethewholefilesanddirectoriesintheinstalleddirectory.
(4) OptionalsettingsforGUIAPsaresavedinINIfiles(*.ini)usuallyplacedinthedirectory <install

dir>\rtklib_<ver>\bin. Note that the directory for the INI files is changed in ver. 2.4.2. To
succeedyouroptionalsettingsforthepreviousversionRTKLIBAPs,pleasecopytheINIfiles(*.ini)in
c:\Windowstothedirectory<install dir>\rtklib_<ver>\bin.
(5) SomeGUIAPs(RTKCONV,RTKPOST,RTKNAVI,RTKGETandSTRSVR)canbeexecutedwiththe
commandlineoption-i <inifile>.ini toselectanalternativeINIfileforanotheroptionalsettings.
You can switch options for such APs by using the command line option as well as the option -t
<title> tochangethewindowtitle.SoyoucanconfiguremultipleshortcutsforthesameGUIAP
withdifferentoptionsbysettingthepropertiesoftheseshortcuts.
(6) TouseRTKPOST_MKLorRTKNAVI_MKL,whichistheIntelMLKlibrarylinkedversionRTKPOST
orRTKNAVIforfastermatrixcomputationonmultiplecoreCPUormultipleprocessorPCs,pleaseset
theWindowsenvironmentvariable OMP_NUM_THREADSto 2, 4or 8accordingtothenumberofthe
CPUcores.Thatenablesmultithreadingmatrixcomputationinordertoshortenprocessingtime.
(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.YoucanclickAP
iconsintheRTKLAUNCHwindoworselectpopupmenusatthetasktrayiconinordertoexecute
RTKLIBAPs.RTKLAUNCHacceptstheoption -mkltolaunchRTKPOST_MKLandRTKNAVI_MKL
insteadofRTKPOSTandRTKNAVI,andtheoption-traytostartthelauncherasatasktrayicon.
RTKPLOT
RTKCONV STRSVR
RTKPOST NTRIPBrowser RTKNAVI
RTKGET
Buttontoiconizein
WindowsTaskTray
Figure3.11RTKLAUNCHwindowandlaunchericonsforAPs
3.2
Real-Time Positioning with RTKNAVI
An realtime positioning APRTKNAVIinputs raw observation data ofGPS/GNSS receivers and execute
navigationprocessinginrealtime.BysettingthepositioningmodetoKinematicandconfiguringtherover
and the base station receiver data inputs, RTKGPS/GNSS is enabled with OTF (onthefly) integer
ambiguityresolution.
(1) ExecutethebinaryAPfile <install dir>\rtklib_<ver>\bin\rtknavi.exe.(doubleclickthe

iconorfullinthepathinthecommandconsole)YoucanseethemainwindowofRTKNAVI. Youcan
alsoexecute<install dir>\rtklib_<ver>\bin\rtknavi_mkl.exeinstead.
DisplaySwitch
Input/Output/Log
Stream
Status/Settings
TimeDisplay
Solution
Display
RTKMonitor
Button
SignalLevel/
SatelliteVisibility
Display
Operation
Buttons
MessageArea
SaveLogButton
Figure3.21MainWindowofRTKNAVI
(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 realtime positioning. Refer 3.3 Configure Input,
OutputandLogStreamsforRTKNAVIforseveralsampleconfigurationsofthesestreams.
GPS/GNSS
Receivers
RTKNAVI
InputStreams(I)
OutputStreams(O)
(1)InputRover
(4)OutputSolution1
(2)InputBaseStation
(5)OutputSolution2
(3)InputCorrection
(6)LogRover
(7)LogBaseStation
Correction
Provider
(8)LogCorrection
LogStreams(L)
Figure3.22DataFlowofRTKNAVI
(3) For realtime positioning with RTKNAVI, you have to input the raw observation data and satellite
ephemeridesfromtheGPS/GNSSreceivers.Tosettheinputstream,pushthebuttonIuppercenter
inthemainwindow.YoucanseetheInputStreamsdialog.
Figure3.23InputStreamsDialogofRTKNAVI
(4) Check and set the stream type of Rover, Basestation or Correction in the dialog. If you set the
Positioning Mode option Single, the input streams for Basestation and Correction are not
required.Thestreamtypescanbeselectedfromthefollowingoptions.
(a)Serial
:Inputdatafromaserialport(RS232CorUSB)
(b)TCPClient
:ConnecttoaTCPserverandinputdataviatheTCPconnection
(c)TCPServer
:AcceptaTCPclientconnectionandinputdataviatheTCPconnection
(d)NTRIPClient
:ConnecttoaNTRIPcaster[20]andinputdataviatheNTRIP.
NRTK(networkRTK)serversupportingNTRIPandRTCM2/3can
alsobeusedforthebasestationviaInternet.
(e)File
:Inputdatafromalogfile.
(f)FTP
:InputdataafterdownloadingafilebyFTP(OnlyforCorrection)
(g)HTTP
:InputdataafterdownloadingafilebyHTTP(OnlyforCorrection)
Youhavetoselectthestreamdataformatfromthefollowingoptionswiththepulldownmenuunder
Format. Refer Appendix D.2 for supported messages by RTKLIB. You shall configure your
GPS/GNSSreceiverstooutputatleastGPS/GNSSobservationdataandnavigationdata(ephemerides).
For detailed operation for the receiver settings, refer the appropriate manuals for the GPS/GNSS
receivers.
(a)RTCM2
:RTCM2.3
(b)RTCM3
:RTCM3.0,3.1(withamendment15)and3.2
(c)NovAtelOEM6
:NovAtelOEM4/V/6andOEMStarbinaryformat
(d)NovAtelOEM3
:NovAtelOEM3(Millennium)binaryformat
(e)ublox
:ubloxLEA4T,5Tand6Tbinaryformat
(f)SuperstarII
:NovAtelSuperstarIIbinaryformat
(g)Hemisphere
:HemisphereCrescent/Eclipsebinaryformat
(h)SkyTraq
:SkyTraqS1315Fbinaryformat
(i)GW10
:FurunoGW10II/IIIbinaryformat
(j)Javad
:JAVADGRIL/GREISbinaryformat
(k)NVSBINR
:NVSNV08CBINRformat
(l)BINEX
:BINEXformat(onlysupportsbigendian,forward,regularCRC)
(m)SP3
:SP3preciseephemeris(onlyforCorrection)
(5) IfyouselectSerialasthestreamtype,push ...buttonunderOptlabeltosettheoptionsofPort

selection, Bitrate, Byte size, Parity, number of Stop bits and Flow Control with the Serial
Optionsdialog.
Figure3.24SerialOptionDialogofRTKNAVI
(6) In case of selecting Serial, TCP Client or TCP Server as the stream type, you can configure the
startupandshutdowncommandstobesenttotheGPS/GNSSreceiverthroughthestream.Tosetup
the commands, push ... button under the Cmd label. Fill in commands in the text fields in the
Serial/TCP Commands dialog. If you do not check Commands at startup or Commands at
shutdown, the startup or shutdown command is not sent to the receiver. You can also load the
commandsfromacommandfilebypushingLoad...buttonorsavethecommandstoacommandfile
with Save... button. A command file is just a text file including startup commands and shutdown
commandsseparatedbyalinestartingwith@.SamplecommandfilesforsometypicalGPS/GNSS
receiversarefoundat<install dir>\rtklib_<ver>/data/*.cmd.
Figure3.25Serial/TCPCommandsDialogofRTKNAVI
(7) A line starting with ! in the commands is treated as a receiver binary command. The following
commandscanbeusedforublox,SkyTraqandNVSreceivers.Referthereceiversmanualsfordetails.
!UBX ...:ubloxLEA4T/5T/6Tcommand
!UBX CFG-PRT portid res0 res1 mode baudrate inmask outmask flags
!UBX CFG-USB vendid prodid res1 res2 power flags vstr pstr serino
10
!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 ...:SkyTraqS1315Fbinarycommand
!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 ...:NVSNV08Cbinarycommand
!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:waitfortime(ms)
(8) IfyouselectTCPClientorTCPServerasthestreamtype,youcansettheoptionsofTCPserver
address(forTCPClientonly)andthePortnumberwiththeTCPClientOptionsorTCPServer
Options dialog. If you select TCP Server as the stream type, multiple TCP client connections are
allowed.
11
Figure3.26TCPClientOptionsDialogofRTKNAVI
Figure3.27TCPServerOptionsDialogofRTKNAVI
(9) IfyouselectNTRIPClientasthestreamtype,youcansettheoptionsofNTRIPCasterHostaddress,
Port number, Mountpoint of NTRIP caster, UserID and Password with the NTRIP Client
Optionsdialog.IfyoukeepthePortfieldblank,thedefaultportnumber(2101)ofNTRIPisused.
NotethatUserIDcannotcontain:.
Figure3.28NTRIPClientOptionsDialogofRTKNAVI
(10) IfyouselectFileasthestreamtype,inputthefilepathtothetextfieldInputFilePaths.Fillinthepath
directlyorselectafilewiththefileselectiondialogbypushing ...button.Theinputfileshouldbea
receiverrawdatalog.YoucansetthereplayspeedandthestarttimeoffsetofthelogfileinTimefield
(Tousethefeature,youhavetorecordthelogwiththetimetagfile.)
12
Figure3.29InputStreamsDialogofRTKNAVI
(11) By pushing the Opt button right of the input stream Format, you can set receiverdependent
optionslike-GL1X -RL1C -EPHALLwiththeReceiverOptiondialog.Multipleoptionscanbeused
separatedbyspaces.Fordetailedreceiverdependentoptions,referAppendixD.4ReceiverDependent
InputOptions.Iftheinputobservationdatastreamcontainmultiplesignalsinafrequency,asignalin
useforsolutionsisselectedbythedefaultsignalprioritieswithoutsuchoptions.ReferAppendixD.3
DefaultPrioritiesforMultipleSignals.
Figure3.210ReceiverOptionDialogofRTKNAVI
(12) In case of using a NRTK (network RTK) service, which requires NMEA GPGGA messages to select
reference station or to setupthe VRS (virtual referencestation) position,select the message content
with the pull down menu at Transmit NMEA GPGGA to Base Station. If you select
Latitude/Longitude to send a fixed position, fill in the latitude and longitude of the position for
NMEAGPGGAmessagesindegree(minusmeanssouthorwest).
(13) For the correction stream, you can select FTP or HTTP as the stream type. After pushing Opt
button,youhavetoconfigureFTPorHTTPoptionswiththeFTPOptionorHTTPOptiondialog.At
first,fillintheserveraddressandthefilepathintheDownloadAddressfieldastheformat<server
address>/<file path>.Usuallyyoumightneedtoincludedayortimekeywordsin<file path>.
For example, in case of downloading IGS ultrarapid ephemeris from the NASA GSFC CDDIS data
server,youcaninputthedownloadaddresslike:
13
cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z
Inthiscase,thekeywords%W,%Dand%hbarereplacedbyGPSweeknumber,dayofweekand6hour
ofthedayaccordingtothedownloadtimeinGPSTime,respectively.Forotherkeywordswhichcanbe
used in the file path, push ? button and see the dialog. You can also set Download Interval,
DownloadOffset(forexample,Interval=6HandOffset=2Hmeansthedownloadwillbetriedat2:00,
8:00, 14:00 and 20:00 in GPS Time), Time Offset in Path for replacing the keywords in the file path,
RetryInterval,User(forFTPonly)andPassword(forFTPonly)fortheserver.ForUserandPassword,
anonymousandyourmailaddressareusuallyusedforanonymousFTPservers.
Figure3.211FTPOptionDialogofRTKNAVI
Tousedownloadfiles,youalsohavetosetthefileformatintheInputdialog.Currentversiononly
supportsSP3preciseephemerisforthispurpose.Downloadedfilesaresavedinalocaldirectory.The
localdirectorypathshallbesetwiththeOptionsdialogFilesFTP/HTTPLocalDirectory.
(14) TooutputofthepositioningsolutionsbyRTKNAVI,youshallsettheoutputstreams.Tosettheoutput
streams, push the button O upper right in the main window. You can see the Output Streams
dialog. Checkand setthestream type ofsolution in the dialog. You canconfigure twoindependent
outputstreamsasmaximum.YoucanselectthestreamtypeoutofSerial,TCPClient,TCPServer,
NTRIP Server and File. The options are similar to the input streams. You also have to select the
followingoutputformatoptions.Thetimeandlatitude/longitudeformats,thetypeofheightandthe
geoid model and the NMEAinterval in output messagesalsocan be configured by the positioning
optionsdescribedin3.5.
(a)Lat/Lon/Height
:Latitude,longitudeandheight
(b)X/Y/ZECEF
:X/Y/ZcomponentsinECEFframe
(c)E/N/UBaseline
:E/N/Ucomponentsofthebaseline
(d)NMEA0183
:NMEA0183GPRMC,GPGGA,GPGSA,GLGSA,GAGSA,
GPGSV,GLGSVandGAGSV
14
Figure3.212OutputStreamsDialogofRTKNAVI
(15) If you select File as the output stream type, you can include some keywords in the file path to be
replacedbydateortime.Push?buttontoshowthekeywordreplacementinthefilepaths.Ifyouset
theSwapIntvoption,theoutputfileisswappedperiodicallyinthespecifiedcycle.Tousethefile
swapfeature,thefilepathmustcontainthekeywordstobereplacedbytheswaptimeinordertoavoid
overwritingthepreviousfile.
Figure3.213KeywordReplacementDialogofRTKNAVI
(16) IfyouselectNTRIPServerastheoutputstreamtype,youhavetosetNTRIPserveroptionswiththe
NTRIP Server Option dialog. The options include the address of NTRIP Caster Host, the Port
number to connect NTRIP caster, NTRIP Mountpoint, Password and String showing the
sourcetableparameterstoNTRIPCaster.IfthePortfieldblank,thedefaultportnumber(80)isused.
ThebuttonNtrip...launchestheNTRIPbrowserAPtoshowthesourcetableprovidedbytheNTRIP
caster.Refer3.10NTRIPBrowserfordetails.
15
Figure3.214NTRIPServerOptionsDialogofRTKNAVI
(17) To output an input stream as a paththrough log, set the log streams. To configure the log streams,
push the button L upper right in the main window. You can see the Log Streams dialog. The
settingsaresimilartotheoutputstreams.Ifyouwanttoreplaythelogfileasaninputstreamlater,you
havetochecktheTimeTagoptionandoutputthetimetagfilesimultaneously.Theoutputpathofthe
timetagfileisautomaticallysetto<output file path>.tag.Thekeywordreplacementsinthefile
pathsandtheswapintervalarethesameastheOutputStreamsdialog.
Figure3.215LogStreamsDialogofRTKNAVI
(18) To configure the positioning options, push Options... button and set the options in the Options
dialog. For details of the positioning options, refer 3.5 Configure Positioning Options for RTKNAVI
andRTKPOST.
(19) PushStartbutton.Thestatusofeachstreamsareshownontheupperrightindicators.Fromtheleft,
they show the stream/processing status of Input Rover, Input Base Station, Input Correction, the
positioning process, Output Solution 1, Output Solution 2, Log Rover, Log Base Station and Log
Correction. Gray represents not used, Orange means waiting for the connection, Deepgreen means
connectedorrunning,Lightgreenmeansdataactive(input,outputorprocessing)andRedmeansa
communicationerroroccurs.Somestatusmessagesarealsoshowninthelowercentermessageareain
16
themainwindow.TostopthepositioningprocessinRTKNAVIpushStopbutton.
Figure3.216MainWindowofRTKNAVI(RUNNING)
(20) Aftertheinputobservationdataandephemeridesarecompletedandvalid,RTKNAVIcomputesthe
positioningsolutionanddisplayitinthesolutiondisplayleftinthemainwindowwiththesolution
status (FIX, FLOAT, DGPS, SBAS, SINGLE or PPP), E/N/U or X/Y/Z components of the standard
deviation,Age(ageofdifferential),Ratio(ratiofactorofambiguityvalidation)and#ofSat(numberof
validsatellites).Toswitchtheformatinthesolutiondisplay,push
buttonupperrightcorner.You
can switch the solution to Lat/Lon/Height (degree/minute/second), Lat/Lon/Height (degree),

X/Y/ZECEF (m), E/N/UBaseline (m), Pitch/Yaw/LengthBaseline (deg, m), alternatively. In the
Lat/Lon/Height modes, the labels H and He indicates the geodetic and ellipsoidal height,
respectively.
Figure3.217SolutionStatusDisplayofRTKNAVI
(21) Toswitchtheformatinthetimedisplay,push GPST buttonuppercenterinthemainwindow.You

canswitchthetimesystemtoGPST,UTC,LT(localtime)andGPST(GPSweek/TOW),alternatively.
(22) Inthestatusdisplayrightinthemainwindow,observationSNR(signaltonoiseratio,C/N0)statusor
visiblesatellitesinskyplotareshown.Bypushing
buttonupperrightcornerofthestatusdisplay,
youcanswitchthecontentstoRover:BaseSNR,RoverSNR,RoverSkyplot,BaseSkyplotandBaseline
17
plot, Wide Rover : Base SNR, Widemode Rover SNR, alternatively. You can switch the frequency
showintheplotbypushingthesecond
buttonneartheupperrightcorner.IntheSNRplotsorthe
Skyplots,thecolorsexceptforGrayasnotinuseindicatethesignalSNRas:>45...40...35...25...<25
(dBHz).ThecolorsofthesatelliteIDsintheSNRplotsalsoindicatethesatellitesystemas:GPS(G),
GLONASS(R),Galileo(E),QZSS(J),BeiDou(C)andSBAS(S).
Figure3.218SatelliteandSignalStatusDisplayofRTKNAVI
(23) The size of RTKNAVI window can be changed by dragging the edge of the window. The separator
betweentheleftandtherightsubwindowscanbealsodraggedtochangethelayoutofthewindow.To
showthestatusofmanyofsatellites,usethisfeatureintroducedinver.2.4.2.ThefontintheSolution
subwindowcanbechangedbythesettingsbytheoptionsdialogtheOptionsMiscSolution
Font.
Figure3.219SizeExpandedMainWindowofRTKNAVI
(24) BypushingPlot...button,youcanexecuteRTKPLOTtoplotthecurrentpositionoftheroverreceiver
onthegraphastherealtimesolutionmode.FordetailstouseRTKPLOT,pleaserefer3.7Viewand
18
PlotSolutionsandObservationDatawithRTKPLOT.
Figure3.220RTKPLOTWindowexecutedbyRTKNAVI
(25) Thepositioningsolutionsarerecordedintheinternalbuffersimultaneously.Youcansavetheinternal
solutionbuffertothefilebypushing...belowthesolutiondisplay.Thesizeofthesolutionbufferand
thesavedsolutionlogcanbeconfiguredwiththeOptionsdialog.
(26) By pushing the
button lower left in the main window, you can see the RTK Monitor window.
Withthewindow,youcanseetheinternalstatusofRTKNAVI.Youcanselectthefollowingcontents
withtheupperleftpulldownmenu.MultipleRTKMonitorwindowsareallowedtobeshownatthe
sametime.Toclosethewindow,pushClosebutton.
19
Figure3.221RTKMonitorWindowofRTKNAVI
(a)RTK
:Generalstatusoftheinternalpositioningprocess
(b)ObsData
:Inputobservationdata.RCV=1meansroverand2meansbasestation
(c)NavGPS
:GPSsatellitenavigationmessages
(d)NavGLONASS
:GLONASSsatellitenavigationmessages
(e)NavGalileo
:Galileosatellitenavigationmessages
(f)NavQZSS
:QZSSsatellitenavigationmessages
(g)NavBeiDou
:BeiDousatellitenavigationmessages
(h)NavGEO
:GEO/SBASsatellitenavigationmessages
(i)Time/Iono
:TimeandIonosphereparameters
(j)Streams
:Statusofinput,outputandlogstreams
(k)SatGPS
:StatusofGPSsatellites
(l)SatGLONASS
:StatusofGLONASSsatellites
(m)SatGalileo
:StatusofGalileosatellites
(n)SatQZSS
:StatusofQZSSsatellites
(o)SatBeiDou
:StatusofBeiDousatellites
(p)SatGEO
:StatusofGEO/SBASsatellites
(q)States
:Statevectorvaluesoftheestimationfilter
(r)Covariance
:Covariancematrixoftheestimationfilter
(s)SBASMsgs
:HEXdumpofinputSBASmessages
(t)SBASLong
:SBASlongtermsatellitecorrections
(u)SBASIono
:SBASionosphericdelaycorrections
(v)SBASFast
:SBASfastcorrections
(w)RTCMMsgs
:StatusofRTCM2or3messages
20
(x)RTCMDGPS
:RTCMDGPScorrections
(y)RTCMSSR
:RTCMSSRcorrections
(z)LEXMsgs
:(reserved)
(aa)LEXEph/Clock
:(reserved)
(ab)LEXIono
:(reserved)
(ac)IonoCorrection
:Ionospherecorrections
(ad)(1)Rover
:DumpofInputRoverstream
(ae)(2)BaseStation
:DumpofInputBaseStationstream
(af)(3)Correction
:DumpofInputCorrectionstream
(ag)(4)(5)Solution1/2
:DumpofOutputSolution1/2stream
(ah)Error/Warning
:Errororwarningmessages
(27) Incaseofselecting(1)Rover,(2)BaseStationor(3)CorrectionforRTKMonitor,youcanselectthe
inputmessageformatwiththepulldownmenuuppercenterofthewindowanddumpthemessages
intheinputstream.Adumplineshowsamessagecontainingthefields:messagetype,(messagelength
inbytes):messagecontentsdependingonthemessageformat.
Figure3.222StreamDumpinRTKMonitorWindowofRTKNAVI
(28) Bypushing
buttonlowerrightinthemainwindow,youcanminimizethemainwindowasanicon
inthetasktrayofWindowsdesktop.Torestorethemainwindow,doubleclickthetasktrayiconor
clickrightbuttononthetasktrayiconandselectmenuMainWindow....
21
3.3
Configure Input, Output and Log Streams for RTKNAVI
For relative positioning likeRTKGPS/GNSS, the rover receiver and thebasestation receiver are usually
placedontheseparatedsites.Inothercases,usermightusethepositioningresultattheremotesitefarfrom
thesereceivers.Tointerconnectthesesites,userhastoestablishdatacommunicationlinks.Tofacilitateeasy
setup of these communication links, RTKLIB provides a communication server utility AP STRSVR, with
whichusercanconfigureinputandoutputdatastreamviathesecommunicationlinks.STRSVRalsohas
thefunctionofrelayorsplitthedatastreamforrealtimepositioningwithRTKNAVI.
Forexample,toreceiveobservationdataofaremotebasestationataroverreceiversiteandtogetRTKGPS
solution, user can place a remote PC installing STRSVR connecting to the base station receiver and can
configureSTRSVRtosenddatatotheroversite.Thefollowingexamplesshowthetypicalapplicationsof
RTKNAVIandSVRSVR.
(1) Singlepointpositioningandoutputsolutionstoafile
PC
GPS/GNSS
Receiver
Serial
RTKNAVI
File
(1)InputRover=Serial
(4)OutputSolution1=File
(2) Singlepointpositioning,outputsolutionstoaserialdevice,logdatatoafile
PC
GPS/GNSS
Receiver
Serial
RTKNAVI
Serial
(4)OutputSolution1=Serial
(6)LogRover=File
22
Log
(3) RTKGPS/GNSS,inputtheroverandbasestationdatafromtwoserialdevices
Rover
Receiver
Serial
PC
File
RTKNAVI
BaseStation
Receiver
Serial
(2)InputBaseStation=Serial
(4) RTKGPS/GNSS,inputroverdatafromaserialportandinputbasestationdatafromaremotereceiver
viaWiFinetwork.
BaseStation
Receiver
Rover
Receiver
PC
Serial
STRSVR
RTKNAVI
TCP
Server
Serial
PC
File
TCP
Client
(0)Input=Serial
(1)Output1=TCPServer
(2)InputBaseStation=TCPClient
(5) RTKGPS/GNSS, input rover data from a serial port and input base station data via mobile phone
Internetconnection
Mobile
Phone
N/W
BaseStation
Receiver
Rover
Receiver
PC
Serial
PC
Internet
STRSVR
RTKNAVI
(0)Input=Serial
(1)Output1=TCPServer
File
Mobile
Phone
Terminal (1)InputRover=Serial
Serial
23
(6) RTKGPS/GNSS, input data from a serial port and input base station data via a NTRIP caster on
Internet.ThecurrentversiondoesnotsupportNTRIPcasterfeature.Pleaseemploysomealternative
NTRIPcasterimplementation.
Ntrip
Caster
BaseStation
GPSReceiver
PC
Rover
GPSReceiver
Serial
PC
Serial
Internet
STRSVR
RTKNAVI
File
(0)Input=Serial
(1)Output1=NTRIPServer
(2)InputBaseStation=NTRIPClient
(7) RTKGPS/GNSSwithNRTK(NetworkRTK)serviceviaInternet
Reference
Reference
Reference
Station
Reference
Station
Station
Station
Rover
GPSReceiver
PC
Serial
Internet
NTRIPCaster
RTKNAVI
File
NRTKprovider
24
(8)MultipleRTKGPS/GNSSwithsingleNRTKservice
Reference
Reference
Reference
Station
Reference
Station
Station
Station
(1)Input=NTRIPClient
(2)Output=TCPServer
PC
Internet
NTRIPCaster
STRSVR
NRTKprovider
LAN
PC
PC
PC
PC
RTKNAVI
RTKNAVI
RTKNAVI
RTKNAVI
Rover
Receiver1
Rover
Receiver2
Rover
Receiver3
Rover
Receiver4
(9) RealtimePPPwithrealtimesatelliteorbitandclockprovidedasaNTRIPstream.
RealtimeOrbit
andclock
Provider
GPSReceiver
PC
Serial
Internet
NTRIPCaster
RTKNAVI
File
NRTKprovider
(2)InputCorrection=NTRIPClient
25
(10)LongbaselineRTKwithFTPdownloadofpreciseephemeris
BaseStation
GPSReceiver
PC
Rover
GPSReceiver
Serial
PC
Serial
STRSVR
Internet
RTKNAVI
File
(0)Input=Serial
(1)Output1=NTRIPServer
(3)InputCorrection=FTP
IGSDataServer
UltrarapidEphemeris(SP3)
ThefollowinginstructionsarefortheoperationofSTRSVR.
(1) Execute the binary AP file <install dir>\rtklib_<ver>\bin\strsvr.exe. You can see the
mainwindowofSTRSVR.
Figure3.31MainWindowofSTRSVR
(2) Toconfiguretheinputstream,selectthestreamtypewithpulldownmenuat(0)Input.Selectable
streamtypesareSerial,TCPClient,TCPServer,NTRIPClient,File,FTPorHTTP.Thestreamoptions
orthestartup/shutdowncommandcanbesetaswellasInputStreamsforRTKNAVI.
(3) Toconfiguretheoutputstreams,selectthestreamtypewithpulldownmenuat(1)Output,(2)Output
or (3) Output. The setting for the output streams are same as Output Streams or Log Streams for
26
RTKNAVI.
(4) Inversion2.4.2,thestreamformatconversionfunctionisadded.Tousethefunction,pushConvbutton
rightofthepulldownmenuoftheoutputstream.YoucanseeConversionOptionsdialog.Toenable
thestreamformatconversionfunction,checktheupperleftcheckboxinthedialogandselectinputand
output format by the pull down menus. Current version supports the following input and output
formats.
(a)Input:
RTCM3,RTCM2,NovAtelOEM6,NovAtelOEM3,ublox,SuperstarII,Hemisphere,
SkyTraq,GW10,Javad,NVSBINRandBINEX
(b)Output:
RTCM3(RTCM2isnotsupportedyet)
Figure3.32ConversionOptionDialogofSTRSVR
OutputmessagesshallbespecifiedintheMessageTypesfieldinthedialogastheform:
nnnn(ss), nnnn(ss), nnnn(ss), ....
Specifythemessagetypesasthefields nnnnandthemessageintervalsasthefields(ss)inseconds.
The message interval can be omitted. In this case, the message interval is determined by the input
messageinterval.ThefollowingtableshowsallofthesupportedoutputRTCMmessages.Forantenna
infomessages,thefieldsaregivenbytheOptionsdialog.Messageinputoptionscanalsobespecified
intheOptionsfield.ReferD.5forthereceiverdependentoptionsfordetails.
SupportedoutputRTCM3messagetype
---------------------------------------------------------------------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*
1046*
1044*
-
MSM 1
2
3
4
5
6
7
:
:
:
:
:
:
:
1081
1082
1083
1084
1085
1086
1087
1091
1092
1093
1094
1095
1096
1097
1111*
1112*
1113*
1114*
1115*
1116*
1117*
1121*
1122*
1123*
1124*
1125*
1126*
1127*
1101*
1102*
1103*
1104*
1105*
1106*
1107*
ANT INFO
: 1005 1006 1007 1008 1033
1071
1072
1073
1074
1075
1076
1077
27
---------------------------------------------------------------------* draft version of RTCM 3 messages
(5) PushStartbuttoninthemainwindow.Thecommunicationstatusisshowninthemessagearealower
center of the main window. Status indicators left side of the main window also shows the
communication status. The indicator colors means: Orange: waiting connection, DarkGreen:
connected,LightGreen: data active, Red: error. Totaldataamount (bytes) and data rate(bps) of the
inputandoutputstreamsarealsoshowninrightside.Tostopthecommunication,pushStopbutton.
(6) Bypushing Options... button,youcansetthecommunicationoptionswiththeOptionsdialog.To

sendNMEAGPGGAmessagetotheserverconnectedtheinputstream,checkNMEARequestCycle
andsettherequestcycle(ms)andlatitude/longitudeinthemessages.ToconnectanexternalNTRIP
casterfromtheinsideofthefirewallviaaHTTPproxyserver,youcaninputtheaddressandtheport
number as the form <address>:<port> in the HTTP/NTRIPProxyfield. The other fieldsinthe
dialogareforantennaandstationinformationmessagestobegeneratedincaseofusingtheformat
conversionfeatureandsendingantennainformationmessages.
Figure3.33OptionsDialogofSTRSVR
28
3.4
Post-Processing Analysis with RTKPOST
RTKLIBcontainsapostprocessinganalysisAPRTKPOST.RTKPOSTinputsthestandardRINEX2.10,2.11,
2.12,3.00,3.01,3.02(draft)observationdataandnavigationmessagefiles(GPS,GLONASS,Galileo,QZSS,
BeiDou and SBAS) and can computes the positioning solutions by various positioning modes including
Singlepoint,DGPS/DGNSS,Kinematic,Static,PPPKinematicandPPPStatic.
(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,whichisaversionofRTKPOSTlinkingthe
IntelMKLlibraryforfastmatrixcomputation.
Figure3.41MainWindowofRTKPOST
(2) InputtheRINEXobservationdatafilepathoftheroverreceiverinthetextfieldRINEXOBS(:Rover).
Fillinthefilepathorselectafileusingthefileselectiondialogshownbypushing...button.Youcan
usethecompressedfilebyGZIP [57](.gz),COMPRESS(.z)orHatanakaCompression [58](.yyd)for
the RINEX observation data. If the compression file or not is recognized by the file extension. If a
wildcard(*)isincludedinthefilepath,thewildcardisexpandedandthemultiplefilesareread.
(3) If you process RINEX data in the relative positioning modes as: DGPS/DGNSS, Kinematic, Static,
MovingBaseorFixed,youhavetoinputthesecondfilepathofthebasestationreceiverintheRINEX
OBS:BaseStationfieldinadditiontotheroverobservationdatafile.
29
(4) YoualsohavetoinputthepathofRINEXnavigationmessagefilesofGPS,GLONASS,Galileo,QZSS
andSBASintheRINEX*NAV/CLK,SP3,IONEXorSBS/EMSfield.Ifyouleavefirstandsecondfield
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 wildcard (*) is included in the file path, the
wildcard is expanded and the multiple files are used like observation data files. To use precise
ephemeris and clock for PPPKinematic, PPPStatic or PPPFixed mode, you can input a SP3c (for
precisesatelliteephemerisandclock)orRINEXCLK(forprecisesatelliteclock)filepathinthefield.
YoucaninputanIONEX1.0filepathforionosphericVTECgridcorrections.ForSBAScorrections,you
caninputaSBASmessagelogfilepathasRTKLIBformatorEMS(EGNOSmessageserver)2.0format
file.Youcanalsoincludewildcards(*)inthesefilepaths.Thewildcardsareexpandedandmultiple
files are used. You can input SSR (state space representation) corrections as RTCM 3 messages in a
inputfilefield.Theformatsoftheseinputfilesarerecognizedbytheirextensionsasfollows:
(a).sp3,.SP3,.eph,.EPH
:SP3cpreciseephemerisfile[22]
(b).sbs,.SBS,.ems,.EMS
:SBASmessagelogfile(AppendixB.2and[26])
(c).rtcm3,.RTCM3
:RTCM3SSRcorrectionmessagefile[18]
(d).*i,.*I
:IONEXVTECgriddatafile[24]
(e)others
:RINEXOBS,NAVorCLK(automaticallyrecognized)[9][15]
(5) InputtheoutputfilepathinthetextfieldSolution.Thefieldisautomaticallysetasthefirstinputfile
pathwiththeextensionreplacedby .posor.nmea.IfyoucheckDirandfillinthefield,theoutput
directoryissettothespecifieddirectory.Youcanmodifytheoutputfilepathmanuallybyeditingthe
fieldcontent.
(6) PushOptions...buttontosettheprocessingoptions.ForthedetailedoptionsforRTKPOST,refer3.5
ConfigurePositioningOptionsforRTKNAVIandRTKPOST.Youcansetthestarttimeorendtimeby
checkingandsettingTimeStart(GPST)orTimeEnd(GPST)fieldinthemainwindow.Youalsosetthe
timeintervalbycheckingandsettingtheIntervalfield.Withthe?button,theinputtimeinGPStime
canbeconvertedtoUTC,GPSWeek/TOW,DayofYear,DayofWeek,TimeofDayandLeapSeconds.
30
Figure3.42TimeDialogofRTKPOST
(7) IfyoucheckbothoftheTimeStartandTimeEndfields,youcancheckUnitformultiplesession
analysis.IftheUnitfieldcheckedandsettheUnittimeinhours,theanalysissessionisseparatedto
multiplesessionsfortheunittime.Toavoidoverwritingthepreviousoutputfile,theoutputfilepath
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
andRTKPOST.
(8) PushExecutebuttontostarttheanalysis.Theprocessingstatusisshowninthestatusmessagefield
lowercenterinthemainwindow.Whenyouseedonemessagehere,theanalysisiscompleted.Ifyou
wanttostoptheprocessingontheway,pushAbortbutton.
(9) Aftercompletingtheanalysis,bypushing View... button,youcandisplaythecontentoftheoutput

file by Text Viewer. You can reload the output file by pushing
button in the Text Viewer
window. To close the window, push Close button. You can configure Text Viewer options by
pushingOptions...button.YoucanalsosearchstringsinthetextbyusingFindbutton.
31
Figure3.43TextViewershowingSolutionsbyRTKPOST
(10) By pushing Plot... button, you can also plot the result with RTKPLOT. Refer 3.7 View and Plot
SolutionsandObservationDatawithRTKPLOTfordetails.
Figure3.44RTKPLOTWindowexecutedbyRTKPOST
32
(11) By pushing To KML... button, the output file can be converted to Google Earth KML file with the
GoogleEarthConverterdialog.SetorselecttheoptionsandpushConvertbuttoninthedialog.You
can launch Google Earth with the generated KML/KMZ file by pushing Google Earth button. To
specifytheGoogleEarthexecutionfile,configureOptionsFilesGoogleEarthExeFile.
Figure3.45GoogleEarthConverterDialogofRTKPOST
(12) With
button in the main window, you can view and plot theinput observationdataRTKPLOT.
YoucanalsodisplaythecontentsoftheinputfileswithTextViewerbypushing
button.
(13) Incaseofoutputsolutionstatisticsordebugtraceastheprocessingoptions,push
buttonslower
leftofthewindowtoviewthesolutionstatisticsfileorthedebugtracefile.Tocheckprocessingerroror
warningincaseofimproperresults,setDebugTraceinOptionsOutputdialogtoLevel2(trace
ERRORandWARNING)andseetheoutputdebugtracefile.
33
3.5
Configure Positioning Options for RTKNAVI and RTKPOST
BypushingOptions...buttoninthemainwindowsofRTKNAVIorRTKPOST,youcansetthepositioning
options. Selectable or changeable positioning options are as follows. These options can be saved to the
configuration file by pushing Save button on thedialog and select the file path. The optionscan be
loaded from a configuration file by pushing Load button and selecting a configuration file. For the
configurationfile,referB.4.Thekeywordswhichcanbeincludedtheconfigurationfilearealsoshownin
thefollowingtables.ThemodelsspecifiedintheseoptionsarealsoexplainedinAppendixEfordetails.
(1) Setting1
Figure3.51OptionsDialog(Setting1)ofRTKNAVIandRTKPOST
Item
Positioning
Mode
Descriptions
Setpositioningmode
Single:SinglepointpositioningorSBASDGPS
DGPS/DGNSS:CodebaseddifferentialGPS
Static:CarrierbasedStaticpositioning
Kinematic:CarrierbasedKinematicpositioning
MovingBase:Movingbaseline
Fixed:Roverreceiverpositionisfixed*
PPPKinematic:PrecisePointPositioningwith
kinematicmode
PPPStatic:PrecisePointPositioningwithstaticmode
PPPFixed:RoverreceiverpositionisfixedwithPPP
mode*
34
Configuration
File
pos1posmode
Notes
*
Forresiduals
analysis
Item
Descriptions
Frequencies
Setusedcarrierfrequencies
L1:L1Singlefrequency
L1+2:L1andL2Dualfrequency
L1+2+5:L1,L2andL5Triplefrequency
FilterType
Setfiltertype
Forward:Forwardfiltersolution
Backward:Backwardfiltersolution*
Combined:Smoothercombinedsolutionwith
forwardandbackwardfiltersolutions*
Elevation
Setelevationmaskangleindegree.
Mask
SNRMask
SetSNRmask.Push...buttontoshowtheSNRMask
dialog.SetSNRthresholdstorejectsatellitesignalsfor
each5degelevationbinsinthedialog.Ifbothof
RoverandBaseStationareunchecked,theseSNR
masksarenotapplied.
RecDynamics Setthedynamicsmodeloftheroverreceiver.
OFF:Dynamicsisnotused
ON:Receivervelocityandaccelerationare
estimated.
Thereceiverpositionispredictedwiththeestimated
velocityandacceleration.
EarthTides
Setwhetherearthtidescorrectionisappliedornot
Correction
OFF:Notapplyearthtidescorrection
Solid:Applysolidearthtidescorrection
Solid/OTL:Applysolidearthtides,OTL(oceantide
loading)andpoletidecorrections.*
ToapplyOTLcorrection,settheOTLcoefficientsfile
pathinOceanLoadingBLQFormatintheFilestab
andthemarkernamehavetobeincludeintheinput
RINEXfiletoselectthestationinBLQfile.
Toapplypoletide,setERP(earthrotationparameter)
filepathinEOPDataFileintheFilestab.
35
Configuration
File
pos1frequency
Notes
N/AtoSingle,
PPP*modes
pos1soltype
*
N/Ato
RTKNAVIand
Singlemode
pos1elmask
pos1snrmask_r,
snrmask_b,
snrmask_L1,
snrmask_L2,
snrmask_L5
pos1dynamics
pos1tidecorr
N/AtoSingle
mode
*
N/Ato
RTKNAVI
Only
applicableto
DGPS/DGNSS
orKinematic
modes
Item
Ionosphere
Correction
Troposphere
Correction
Satellite
Ephemeris/
Clock
SatPCV
RecPCV
PhWindup
Descriptions
Setionosphericcorrectionoptions.Ifyousetthe
parameterEstimated.Verticalionosphericdelayfor
eachsatellite)areestimated.Forlongbaseline
analysis,ionosphereestimationiseffectiveto
suppressionospheredelayeffects.
OFF:Notapplyionosphericcorrection
Broadcast:Applybroadcastionosphericmodel
SBAS:ApplySBASionosphericmodel
IonoFreeLC:Ionospherefreelinearcombination
withdualfrequency(L1L2forGPS/GLONASS/
QZSSorL1L5forGalileo)measurementsisusedfor
ionosphericcorrection
EstimateSTEC:Estimateionosphericparameter
STEC(slanttotalelectroncontent)*
IONEXTEC:UseIONEXTECgriddata
QZSSBroadcast:Applybroadcastionospheremodel
providedbyQZSS
QZSSLEX:(reserved)
Setwhethertroposphericparameters(zenithtotal
delay
atroverandbasestationpositions)areestimatedor
not.
OFF:Notapplytropospherecorrection
Saastamoinen:ApplySaastamoinenmodel
SBAS:ApplySBAStroposphericmodel(MOPS)
EstimateZTD:EstimateZTD(zenithtotaldelay)
parametersasEKFstates*
EstimateZTD+Grad:EstimateZTDandhorizontal
gradientparametersasEKFstates*
Setthetypeofsatelliteephemeris.
Broadcast:Usebroadcastephemeris
Precise:Usepreciseephemeris*
Broadcast+SBAS:BroadcastephemeriswithSBAS
longtermandfastcorrection
Broadcast+SSRAPC:Broadcastephemeriswith
RTCM
SSRcorrection(antennaphasecentervalue)
Broadcast+SSRCoM:Broadcastephemeriswith
RTCM
SSRcorrection(satellitecenterofmassvalue)
QZSSLEX:(reserved)
SetwhetherthesatelliteantennaPCV(phasecenter
variation)modelisusedornot.Tousethefeature,set
SatelliteAntennaPCVFileinFilestab.
SetwhetherthereceiverantennaPCVmodelisused
ornot.Tousethefeature,setReceiverAntennaPCV
FileinFilestab.
SetwhetherthephasewindupcorrectionforPPP
modesisappliedornot.
36
Configuration
File
pos1ionoopt
Notes
*
N/AtoSingle,
PPP*modes
pos1tropopt
*N/AtoSingle
mode.
pos1sateph
pos1posopt1
N/AtoSingle
mode
pos1posopt2
N/AtoSingle
mode
pos1posopt3
Only
applicableto
PPP*modes.
Item
RejectEcl
RAIMFDE
Excluded
Satellites
(+PRN:
Included)
Navigation
System
Descriptions
SetwhethertheGPSBlockIIAsatellitesineclipseare
excludedornot.TheeclipsingBlockIIAsatellites
oftendegradethePPPsolutionsduetounpredicted
behaviorofyawattitude.
SetwhetherRAIM(receiverautonomousintegrity
monitoring)FDE(faultdetectionandexclusion)
featureisenabledornot.IncaseofRAIMFDE
enabled,asatelliteisexcludedifSSE(sumofsquared
errors)ofresidualsisoverathreshold.Theexcluded
satelliteisselectedtoindicatetheminimumSSE.
Settheexcludedsatellitesforpositioning.Fillinthe
PRNnumbersofthesatellitesseparatedbyspaces.
ForGLONASS,Galileo,QZSS,BeiDouandSBAS,use
Rnn,Enn,Jnn,CnnandSnn,respectively(nn:satellite
PRNorslotnumber).
If+isaddedtotheheadofthesatelliteID,the
satelliteisincludedforpositioningevenifthesatellite
isunhealthy.
Checkusednavigationsatellitesystems.Ifunchecked,
satellitesofthesystemarenotusedforpositioning.
GPS
GLONASS
Galileo
QZSS
SBAS
BeiDou
Configuration
File
pos1posopt4
pos1exclsats
pos1navsys
Figure3.52SNRMaskDialogofRTKNAVIandRTKPOSTOptions
(2) Setting2
37
Only
applicableto
PPP*modes.
pos1posopt5
Notes
Figure3.52OptionsDialog(Setting2)ofRTKNAVIandRTKPOST
Item
Descriptions
Integer
Ambiguity
Resolution
(GPS)
Setthestrategyofintegerambiguityresolutionfor
GPS
OFF:Noambiguityresolution
Continuous:Continuouslystaticintegerambiguities
areestimatedandresolved*
Instantaneous:Integerambiguityisestimatedand
resolvedbyepochbyepochbasis*
FixandHold:Continuouslystaticinteger
ambiguitiesareestimatedandresolved.Ifthe
validationOK,theambiguitiesaretightly
constrainedtotheresolvedvalues.*
PPPAR:AmbiguityresolutioninPPP
(Experimental)**
Integer
Ambiguity
Resolution
(GLO)
SetthestrategyofGLONASSintegerambiguity
resolution
OFF:Ambiguitiesarenotfixed.
ON:Ambiguitiesarefixed.Usuallytheambiguityof
onlythesametypesreceiverpairfortheroverand
thebasestationcanbefixed.Thedifferentreceiver
typeshaveIFB(interfrequencybias)whichcannot
becanceledbyDD.
Autocalibration:Receiverinterchannelbiasterms
areestimatedasalinearequationbythefrequencies.
Settheintegerambiguityvalidationthresholdfor
ratiotest,whichusestheratioofsquaredresiduals
ofthebestintegervectortothesecondbestvector.
Setminimumconfidenceleveltofixambiguityin
PPPARmode
MinRatioto
Fix
Ambiguity
Min
Confidenceto
FixAmb.
MaxFCBto
FixAmb.
SetmaximumFCB(fractionalcyclebias)tofix
ambiguityinPPPARmode
38
Configuration
Notes
File
pos2Default:
armode
ContinuousNot
applicableto
Singlemode.
*Only
applicableto
Kinematic,
Static,Moving
baselineand
Fixedmodes.
**Only
applicable
toPPP*modes
andRTKPOST
pos2Default:
gloarmode
ON
Onlyapplicable
toKinematic,
Static,Moving
baselineand
Fixedmodes.
pos2arthres
Defaultvalue:
3.0
Item
MinLock/
Elevationto
Fix
Ambiguity
MinFix/
Elevationto
Hold
Ambiguity
Outageto
Reset
Ambiguity/
SlipThres
MaxAgeof
Differential
SyncSolution
Reject
Threshold
ofGDOP/
Innov.
Numberof
Iteration
Baseline
Length
Constraint
Configuration
Notes
File
pos2Defaultvalue:
arlockcnt,
0,0
arelmask
Descriptions
Settheminimumlockcountandtheminimum
elevationangle(deg)tofixintegerambiguity.Ifthe
lockcountortheelevationangleislessthanthevalue,
theambiguityisexcludedfromthefixedinteger
vector.
pos2IfyouselectFixandHoldmodeforInteger
AmbiguityResolution,settheminimumfixcountand arminfix,
elmaskhold
theminimumelevationangle(deg)toholdambiguity.
Settheoutagecounttoresetambiguity.Ifthedata
outagecountisoverthevalue,theestimated
ambiguityisresettotheinitialvalue.Andsetthe
cycleslipthreshold(m)ofgeometryfreeLC
carrierphasedifferencebetweenepochs.
Setthemaximumvalueofageofdifferential(s)
betweentheroverandthebasestation.
Settimesynchronizationmodeofsolutions:
OFF:Minimumlatencymode.Thesolutionisoutput
soonafterroverdatainput.Thedelayedbasestation
orcorrectiondataareextrapolatedtotherovertime.
ON:Matchedsolutionmode.Thesolutionisoutput
afterbothroverdataandbasestationorcorrection
dataprepared.Thesolutiontimemaybebehindthe
rovertimewithacertaindelay.
Thisfeatureisnotimplementedinver.2.4.2.
SettherejectthresholdofGDOPandinnovation
(prefitresidual)(m).IftheGDOPortheinnovationis
overthevalue,theobservableisexcludedforthe
estimationprocessasanoutlier.
Setthenumberofiterationinthemeasurement
updateoftheestimationfilter.Ifthebaselinelengthis
veryshortlike1m,theiterationmaybeeffectiveto
handlethenonlinearityofmeasurementequation.
IfMovingBasemode,checkandsettheconstraintof
thebaselinelength.Fillinthelengthinmandthe
standarddeviation(m)oftheconstraint.
39
Defaultvalue:
10,0
pos2aroutcnt,
pos2slipthres
Defaultvalue:
5,0.05
pos2maxage
Defaultvalue:
30
N/Ato
RTKPOSTand
Singlemode
Defaultvalue:
OFF
pos2syncsol
pos2rejgdop,
rejionno
Defaultvalue:
30,30
pos2niter
Defaultvalue:1
pos2baselen,
basesig
(3) Output
Figure3.53OptionsDialog(Output)ofRTKNAVIandRTKPOST
Item
Solution
Format
Output
Header
Output
Processing
Options
TimeFormat
#ofDecimals
Latitude/
Longitude
Format
Field
Separator
Descriptions
Settheoutputsolutionformat.
Lat/Lon/Height:Latitude,longitudeandheight
X/Y/ZECEF:X/Y/ZcomponentsofECEF
coordinates
E/N/UBaseline:E/N/Ucomponentsofbaseline
vector
NMEA0183:NMEAGPRMC,GPGGA,GPGSA,
GLGSA,GAGSA,GPGSV,GLGSVandGAGSV
Setwhethertheheaderisoutputornot.
Configuration
Notes
File
outForRTKNAVI,
solformat
specifyoptions
asOutput
Streams
setting.
outouthead
N/AtoNMEA
Setwhethertheprocessingoptionsareoutputornot.
outoutopt
RTKPOSTonly
N/AtoNMEA
Settheformatoftime
ssssssss.sssGPST:GPSweekandtimeofweek
hh:mm:ssGPST:yyyy/mm/ddhh:mm:ssGPST
hh:mm:ssUTC:yyyy/mm/ddhh:mm:ssUTC
hh:mm:ssJST:yyyy/mm/ddhh:mm:ssJST
Setnumberofdecimalsinthetimeformat
outtimesys,
timeform
N/AtoNMEA
outtimendec
outdegform
N/AtoNMEA
outfieldsep
N/AtoNMEA
Settheformatsoflatitudeandlongitudeifthe
solutionformatissettoLat/Lon/Height.
ddd.dddddddd:Degree
dddmmss.sss:Degreeminutesecond
Settheseparatorforfields.
40
N/AtoNMEA
Item
Datum
Height
GeoidModel
Solutionfor
Static
Mode
NMEA
Interval(s)
RMC/GGA
NMEA
Interval(s)
GSA/GSV
Output
Solution
Status
Descriptions
Setthedatumifthesolutionformatoptionissetto
Lat/Lon/Height.
WGS84:WGS84datum
Tokyo:Tokyodatum
(currentversionsupportsonlyWGS84)
Setthetypeofheight.
Ellipsoidal:Ellipsoidalheight
Geodetic:Geodeticheight
SetthegeoidmodeliftheHeightoptionissetto
Geodetic.
Internal:Internalgeoidmodel
EGM96BE(15):EGM96(15x15grid)*1
EGM2008SE(2.5):EGM2008(2.5x2.5grid)*2
EGM2008SE(1):EGM2008(1x1grid)*2
GSI2000(1x1.5):GSI2000(1x1.5grid)*3
Ifusingexternalgeoidmodel,specifythegeoidfile
pathinFilestab.
SetthesolutiontypeforStaticorPPPStaticmode
All:allsolutionsfortheprocessingperiodare
outputted
Single:Onlyonesolutionfortheprocessingperiodis
output.Thetimeofsolutionisfirstepochinthe
processingperiod.
SettheoutputintervalofNMEAGPRMC,GPGGA
messages
SettheoutputintervalofNMEAGPGSA,GLGSA,
GAGSA,GPGSV,GLGSV,GAGSVmessages
Configuration
File
Notes
out-height
out-geoid
outsolstatic
RTKPOSTonly
outnmeaintv1
RTKNAVIonly
outnmeaintv2
RTKNAVIonly
out
Settheoutputlevelofthesolutionstatusfile.The
outstat
solutionstatusfilecontainsestimatedstatesand
residuals.Thesolutionstatusfileiscreatedinthe
currentdirectory(RTKNAVI)orintheoutputfile
directory(RTKPOST).
Output
Settheoutputlevelofdebugtracefile.IfsettingOFF,
DebugTrace
anydebugtracefileisnotoutput.Thedebugtracefile
iscreatedinthecurrentdirectory(RTKNAVI)orin
theoutputfiledirectory(RTKPOST).
*1WW15MGH.DAC(http://earthinfo.nga.mil/GandG/wgs84/gravitymod/egm96/binary/binarygeoid.html)
*2Und_min1x1_egm2008_isw=82_WGS84_TideFree_SE,
Und_min2.5x2.5_egm2008_isw=82_WGS84_TideFree_SE
(http://earthinfo.nga.mil/GandG/wgs84/gravitymod/egm2008/egm08_wgs84.html)
*3gsigeome.ver4(http://vldb.gsi.go.jp/sokuchi/geoid/download/down.html)
41
(4) Statistics
Figure3.54OptionsDialog(Statistics)ofRTKNAVIandRTKPOST
Item
Measurement
Errors
Code/Carrier
PhaseError
RateL1/L2
CarrierPhase
Error
CarrierPhase
Error/sinEl
CarrierPhase
Error/Baseline
Doppler
Frequency
Process
Noises
Receiver
Accel
Horiz/Vertical
CarrierPhase
Bias
Vertical
Ionospheric
Delay
Zenith
Tropospheric
Delay
Configuration
File
Descriptions
Notes
Settheratioofstandarddeviationsofpseudorange
errorstocarrierphaseerrorsforL1andL2/L5/L6.
statseratio1,
eratio2
Setthebasetermofcarrierphaseerrorstandard
deviation(m).
Settheelevationdependenttermofcarrierphase
errorstandarddeviation(m/sin(el)).
Setthebaselinelengthdependenttermof
carrierphaseerrorstandarddeviation(m/10km).
SetthestandarddeviationofDopplererrors(Hz)
(Currentversiondoesnotusethevalue)
statserrphase
Settheprocessnoisestandarddeviationofthe
receiveraccelerationasthehorizontalorvertical
component.(m/s2/sqrt(s)).IfReceiverDynamicsisset
toOFF,theyarenotused.
Settheprocessnoisestandarddeviationof
carrierphase
bias(ambiguity)(cycle/sqrt(s)).
Settheprocessnoisestandarddeviationofvertical
ionosphericdelayper10kmbaseline(m/sqrt(s)).
statsprnaccelh,
prnaccelv
Defaultvalue:
1and0.1
statsprnbias
Defaultvalue:
1E4
statsprniono
Defaultvalue:
1E3
Settheprocessnoisestandarddeviationofzenith
troposphericdelay(m/sqrt(s)).
statsprntrop
Defaultvalue:
1E4
42
statserrphaseel
statserrphasebl
statserrdoppler
Defaultvalue:
100,
100
Defaultvalue:
0.003
Defaultvalue:
0.003
Defaultvalue:0
Defaultvalue:1
Item
Descriptions
SatelliteClock Setthesatelliteclockstability(s/s).Thevalueisused
Stability
forinterpolationofbasestationobservables.
Configuration
Notes
File
statsDefaultvalue:
clkstab
5E12
(5) Positions
Figure3.55OptionsDialog(Positions)ofRTKNAVIandRTKPOST
Item
Rover
Lat/Lon/
Height
(deg/m)
Configuration
File
Descriptions
Setthepositionoftheroverantennaiftherover
antennaisfixed.SeethesamefieldforBaseStation.
ant1postype,
pos1, pos2,
pos3
ant1anttype
ant1antdele,
antdeln,
antdelu
AntennaType Selectthetypeoftheroverantenna.
Toselecttheantennatype,settheReceiverAntenna
PCVFilepathinFiles.If*isused,antennatypeand
antennadeltaarerecognizedbytheantenna
informationofRINEXOBSheader(RTKPOST)or
RTCMantennainformation(RTKNAVI).
DeltaE/N/U
Setthedeltapositionoftheroverantennaasthe
E/N/UoffsetsofARP(antennareferencepoint)
positionwithrefertothemarker(m).
BaseStation
Notes
43
Item
Descriptions
Lat/Lon/Heig
ht(deg/m)
Setthepositionofthebasestationantenna.
Lat/Lon/Height(deg/m):Latitude/longitude/height
indegreeandm
Lat/Lon/Height(dms/m):Latitude/longitude/height
indegree/minute/secondandm
X/Y/ZECEF(m):X/Y/ZcomponentsinECEFframe.
RTCMStationPosition:Usetheantennaposition
includedinRTCMmessages*
AverageofSinglePos:Usetheaverageofsingle
pointsolutions**
GetfromPositionFile:Usethepositioninthe
positionfile.Thestationissearchedbyusingthe
head4characterIDoftheroverobservationdatafile
path.**
RINEXHeaderPosition:Usetheapproximate
positioninRINEXOBSheader.**
AntennaType Selectthetypeofthebasestationantenna.
Toselecttheantennatype,setReceiverAntennaPCV
FileinFiles.If*isused,antennatypeandantenna
deltaarerecognizedbytheantennainformationof
RINEXOBSheader(RTKPOST)orRTCMantenna
information(RTKNAVI).
DeltaE/N/U
Setthedeltapositionofthebasestationantennaas
E/N/UoffsetsofARPpositionwithrefertothemarker
(m).
Station
PositionFile
Configuration
Notes
File
ant2Heightis
postype,
specifiedas
pos1, pos2,
ellipsoidal
pos3
height
*RTKNAVIonly
**RTKPOST
only
ant2anttype
ant2antdele,
antdeln,
antdelu
Input the station position file path to retrieve the filepositionfromthestationlist.Thestationpositionfile staposfile
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
separatedbyspaces.Thelinestarting%istreatedas
thecommentline.Anexamplestationpositionfileis
foundatrtklib_<ver>\data\stations.pos.
SINEX station positions can be used as well. An

sampleSINEXfileisfoundat
rtklib_<ver>\data\igs10P1565_wocov.snx
If you set Station Position File in Files tab, you can select the potion of the rover or the basestation
antennafromthestationlistinStationsdialogbypushing...button.YoucanloadLat/Lon/Hgtformator
SINEXformatfile.Thefiletypeisautomaticallyrecognized.YoucansearchastationIdorNamewith
FindbuttonwithaspecifiedwordintheFindfield.
44
Figure3.56PositionsDialogofRTKNAVIandRTKPOSTOptions
(6) Files
Figure3.57OptionsDialog(Files)ofRTKNAVIandRTKPOST
45
Configuration
Notes
File
file
Satellite
IfyouusethepreciseephemerisorSSRcorrection,
Antenna
inputtheANTEXantennaparametersfilepathforthe satantfile
PCVFile
satelliteantennaPCV(phasecentervariation)
ANTEX
correction.Usuallyuselatestigs08.atx file
providedbyIGS.
AnexampleoftheANTEXfileisfoundat
rtklib_<ver>\data\igs08.atx.
file
Receiver
Ifyouapplythereceiverantennaphasecenteroffset
rcvantfile
Antenna
andPCVcorrection,inputANTEXorNGStype
PCVFile
antennaparametersfilepath.
ANTEXor
Anexampleoftheantennaparameterfileisfoundat
rtklib_<ver>\data\igs08.atx.
NGSPCV
or
rtklib_<ver>\data\ngs_abs.pcv.
GeoidData
Inputthefilepathofthegeoiddatafileifselectingthe filegeoidfile
File
externalmodelasGeoidModel.
DCBDataFile InputthefilepathofDCBcorrectionforPPPinCODE filedcbfile

format.
Anexampleoftheantennaparameterfileisfoundat:
rtklib_<ver>\data\P1C1_ALL.DCB
rtklib_<ver>\data\P2C2.DCB
rtklib_<ver>\data\P1P2_ALL.DCB
file
EOPDataFile InputthefilepathofanEOPdatafile.Theformatof
eopfile
theEOPdatafileshallbeIGSERPformatversion.2
[62].
file
Ocean
InputthefilepathofanOTLcoefficientsfile.The
blqfile
LoadingBLQ formatoftheOTLcoefficientsfileisBLQformat.[63]
Format
GoogleEarth InputtheexecutionfilepathofGoogleEarth.
RTKPOSTonly
ExeFile
fileRTKNAVIonly
FTP/HTTP
InputthelocaldirectoryforFTP/HTTPdownload.
tempdir
Local
Thedownloadedfilesaresaveinthedirectory.
Directory
Item
Descriptions
46
(7) Misc(RTKNAVI)
Figure3.58OptionsDialog(Misc)ofRTKNAVI
Item
Descriptions
Processing
Cycle/Buffer
Size
Settheprocessingcycletimeofinms.Usuallyset100
msorlessvalue.
Settheinputmessagebuffersizeinbytes.Usuallyset
itto32768ormore.
SetthetimeoutandreconnectintervalforTCPclient
andNTRIPclientconnectionsinms.Ifthetimeout
timeexpiredwithoutseverresponse,RTKNAVI
retriestoconnecttoserverafterwaitingforthe
reconnectinterval.
SettheNMEAGPGGAtransmissioncycletoNRTK
serverinms.
Ifoutputorlogfileswapenabled,settheoverlapped
periodsbetweenthepreviousandthenewoutput
filesinsecond.Ifyousetitto0,theperiodsofthese
filesarenotoverlapped.Thisfeatureistoavoidthe
missingoftransientdatabytheoutputfileswapping.
Settheinternalsolutionbuffersizeandlogsizein
epochs.Toincreasethelengthofthereceiver
trajectoryonRTKMap,increasethesolutionbuffer
size.
Selectnavigationmessagestobeused.
(1)All:Inanyoftheinputstreams
(2)Rover:Intheroverreceiverstream
(3)BaseStation:Inthebasestationreceiverstream
(4)Correction:Inthecorrectionstream
IfSBASDGPScorrectionenabled,inputSBASsatellite
PRNnumbertobeused.Ifyouinput0,allavailable
SBASsatellitesareused.
Timeout/
ReConnect
Interval
NMEACycle/
FileSwap
Margin
Solution
Buffer/Log
Size
Navigation
Message
Selection
SBASSatellite
Selection
47
Configuration
File
misc
svrcycle
Notes
misctimeout,
reconnect
miscnmeacycle
miscbuffsize
miscnavmsgsel
miscsbasatsel
Default:52001
Item
MonitorPort
HTTP/NTRIP
Proxy
SolutionFont
TLEData
SatNo
Configuration
File
Descriptions
Setmonitorportnumber.ThemonitorportisTCP
serverporttoconnectfromoutsideorbyRTKPLOT
forrealtimesolutionmonitor.Ifmultipleinstancesof
RTKNAVIaregenerated,thefollowingnumbersare
usedautomatically.If0isset,themonitorportisnot
used.
miscSetHTTP/NTRIPproxyserveraddressandport
<address>:<port>
f
numberas
ormtoconnectthe proxyaddr
NTRIPCasterviaaHTTPProxyserver.
Selectthefontofthesolutiondisplayinthemain
window.
SpecifyNORADTLE(twolineelement)satelliteorbit elementdatafile.TLEdataareusedtocompute
satellitepositionsforskyplotifthesatelliteephemeris
isunavailable.Bothoftwolineformatorthreeline
formatofTLEdatacanbeused.AsampleTLEdata
canbefoundat:
rtklib_<ver>/data/
catalbe_2l_2013_01_09_pm.txt.
Specifythesatellitenumberfilewhichistoconnect
GNSSsatellite/PRNnumbersandTLEsatellitecatalog
numbersinNORADTLEdatafile.Asamplesatellite
numberfilecanbefoundat
rtklib_<ver>/data/TLE_GNSS_SATNO.txt.
*1ToobtainthelatestTLEdatafile,referthefollowingURLs:
(a)CelesTrack:http://celestrak.com
(b)SpaceTrack:http://www.spacetrack.org
(8) Misc(RTKPOST)
Figure3.59OptionsDialog(Misc)ofRTKPOST
48
*1
Notes
Item
Time
Interpolation
ofBase
Station
Observation
Data
SBASSatellite
Selection
Configuration
File
SelectONtoenabletimeinterpolationofbasestation miscdata.IfselectingON,thebasestationdataarelinearly timeinterp

interpolatedtotheroverepochandDD(double
difference)ismadewiththem.Ifnotchecked,nearest
epochofbasestationdataisusedforDD.
Descriptions
IfSBASDGPScorrectionenabled,inputSBASsatellite
PRNnumbertobeused.Ifyouinput0,allavailable
SBASsatellitesareused.
RINEXOpt
SpecifyRINEXreadoptionsforroverRINEX
(Rover)
observationdataasfollows.Multipleoptionscanbe
inputseparatedbyspaces.
-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
Withouttheoptionandmultiplesignalsina
frequency,RTKLIBselectasignalforafrequency
accordingtothedefaultprioritiesofsignals.Refer
AppendixD.4DefaultPrioritiesofMultipleSignals.
RINEXOpt
SpecifyRINEXreadoptionsforbasestationRINEX
(Base)
observationdatasameastheRINEXOpt(Rover).
StationIDList Forbatchprocessingwithmultipleinputfilesor
multiplesessions,youcansetinputfilepathsor
outputfilepathcontainingthefollowingkeywords:
Rovers
BaseStations
miscsbasatsel
miscrnxopt1
miscrnxopt2
%Y, %y, %m, %d, %n, %W, %D, %h, %H, %r, %b
Thekeywordsarereplacedbythepropervaluesor
expandedformultiplesessionanalysis.
Toenabletimekeywords,setTimeStart,TimeEnd
andUnit(optional)inthemainwindow.For
keywords%r,%b,inputRoverListorBaseStation
Listbelow.
Foronlinereference,push?button.
InputtheroverIDlisttoreplacekeyword%rininput andoutputfilepaths.Thelinestartingwith#is
treatedasacomment.
InputthebasestationIDlisttoreplacekeyword%bin inputandoutputfilepaths.Thelinestartingwith#
istreatedasacomment.
49
Notes
3.6
Convert Receiver Raw Data to RINEX with RTKCONV
RINEX(ReceiverIndependentExchangeFormat)isastandardGPS/GNSSdataformatsupportedbymany
receiversorGPS/GNSSpostprocessinganalysissoftware.RTKLIBpostprocessinganalysisAPRTKPOST
canalsohandleRINEXdatafilesasinputs.ForpreparingRINEXfiles,RTKLIBprovidestheconverterAP
RTKCONV,whichtranslatesreceiverraw,RTCMandBINEXmessagestoRINEXOBS(observationdata),
RINEXNAV(GNSSnavigationmessages).RTKCONVcanalsoextractSBASmessagesfromthereceiver
rawdataandoutputtheSBASlogfile.
ThesupportedRINEXversionsare2.10,2.11,2.12,3.00,3.01and3.02(draft)withRTKLIBextensions.Refer
AppendixB.2forSBASlogfilesandAppendixD.1forsupportedRINEXfiles.
(1) ExecutethebinaryAPfile <install dir>\rtklib_<ver>\bin\rtkconv.exe.Youcanseethe

mainwindowofRTKCONV.
Figure3.61MainWindowofRTKCONV
(2) InputthereceiverrawdatafilepathtothetextfieldRTCM,RCVRAWorRINEXOBS.Fillinthefile
pathdirectlyorselectthefilewiththefileselectiondialogbypushing ... button.Youcanalsodrag
anddroptheiconoftherawdatafiletothemainwindowofRTKCONV.Supportedreceiverrawdata
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
expressedinRINEXversion2,RINEXversion3,RTCM3MSMandBINEX.
50
(a)RTCM2
:RTCM2.3
(b)RTCM3
:RTCM3.0,3.1(withamendment15)and3.2
(c)NovAtelOEM6
:NovAtelOEM4/OEMV/OEM6andOEMStarbinaryformat
(d)NovAtelOEM3
:NovAtelOEM3(Millennium)binaryformat
(e)ublox
:ubloxLEA4T,5T,6Tbinaryformat
(f)SuperstarII
:NovAtelSuperstarIIbinaryformat
(g)Hemisphere
:HemisphereCrescent/Eclipsebinaryformat
(h)SkyTraq
:SkyTraqS1315Fbinaryformat
(i)GW10
:FurunoGW10II/IIIbinaryformat
(j)Javad
:JAVADGRIL/GREISbinaryformat
(k)NVSBINR
:NVSNV08CBINRbinaryformat
(l)BINEX
:BINEXformat(onlybigendian,forward,regularCRCmessages)
(m)RINEX
:RINEXOBS/NAVformat.
Ifthewildcard(*)isusedinthefilepath,thewildcardisexpandedtomultiplefilesandtheywillbe
read.BysettingRINEXastheinputfileformatandsettingoutputRINEXversion,youcanconvert
RINEXversion2toversion3orRINEXversion3toversion2.Inthiscase,youcanextractandoutput
RINEXdatawithselectedsatellites,signals,timespanortimeintervalofinputRINEXdata.
(3) SelecttheformatwiththepulldownmenuFormat.IfyouselectAuto,RTKCONVrecognizesthefile
formataccordingtothefollowingfileextensions.
(a)RTCM2
:.rtcm2
(b)RTCM3
:.rtcm3
(c)NovAtelOEM6
:.gps
(d)ublox
:.ubx
(e)SuperstarII
:.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),
RINEXGNAV(GLONASSnavigationmessages),RINEXHNAV(GEOsatellitenavigationmessages),
51
RINEXQNAV(QZSSnavigationmessages),RINEXLNAV(Galileonavigationmessages)andSBAS
Log files. Fill in the file path directly or select the file with the file selection dialog by pushing ...
button.Ifyoudonotcheckthecheckboxleft,thefileisnotoutput.RINEXGNAV,HNAV,QNAVand
LNAV are supported only in RINEX version 2. If selecting version 3 as the output RINEX, all
navigationdataareoutputtoacombined(mixed)NAVtypeRINEXfile.Theoutputfilescaninclude
keywords.Thekeywordsarereplacedbytime,dateorstationID.Push?button,toreferthekeyword
replacementsinoutputfiles.
(5) Ifyouwanttooutputthefilestoadirectory,checkOutputDirectoryandinputtheoutputdirectory.
Thedirectorycanbeselectedbypushing...button.IftheOutputDirectoryisnotchecked,thefiles
areoutputtothesamedirectoryoftheinputfile.Iftheoutputdirectoryisnotexist,thedirectoryis
automatically created. Even in this case, the parent directory always must be exist. Otherwise, the
directorycreationisfailed.
(6) YoucansetthestarttimeorendtimeoptionallybycheckingandsettingtheTimeStart(GPST)or
Time End (GPST) field upper in the main window. You can also set the time interval option by
checkingandsettingthefieldInterval.IfyouinputTimeStartandTimeEnd,checkUnitand
inputTimeUnit,youcaninitiatemultiplesessionconversion.Inthiscase,pleaseincludekeywords
tobereplacedbydateandtimeintheinputfilepathandtheoutputfilepaths.NotethatRTKCONV
doesnotconfirmtheoverwriteiftheoutputfileexistsinsuchamultisessionconversioncase.
(7) You can push Options... button to configure RINEX options. Set the options for RINEX headers,
navigationsystems,observationtypesorfrequencieswithOptionsdialog.IfyoucheckRINEXName,
the output file paths are compliant to the RINEX file name convention. Please input Station ID to
complete the output file names for RINEX file name convention. The Option field is
receiverdependent options. Specify the options separated by spaces like -EPHALL -GL1X. For
details, refer Appendix D.5 Receiver Dependent Input Option. For RINEX 3, you had better check
ScanObsTypestoobtaineffectiveOBSTYPESininputfiles.Inthiscase,theinputfilesarescannedto
obtainavailableOBSTYPElistasthefirstconversionpathandthenRTKCONVoutputsRINEXasthe
second conversion path. If Scan Obs Types unchecked, the OBS TYPES in output RINEX files are
determined by the default OBS TYPES set depending on the input format and the Signal Mask
settingsdescribedbelow.
52
Figure3.62OptionsDialogofRTKCONV
(9)
TosetthemaskofOBSTYPEStooutputtotheobservationfile,usetheSignalMaskdialogshownby
pushing Mask... button in the Options dialog. You shall check signals to be output to RINEX
observationfileinthedialog.YoushallunchecksignalsnottooutputtotheRINEXobservationfile.
Note that the signals not in the default OBS TYPES set or not in input data are not output even if
checked.UseSetAllorUnsetAllbuttontoselectordeselectallsignals.ReferAppendixD.3for
observationtypesorsignalIDsintheinputdataandtheoutputRINEXfiles.
Figure3.63SignalMaskDialogofRTKCONVOptions
(8) Push Convert buttontostartconvertingthereceiverrawdatatoRINEXandSBASlogfiles.Ifyou

wanttostoptheconversionontheway,push Abort button.Thestatusisdisplayedinthemessage
53
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
messagesanderrors,respectively.
(14) Afterfinishingtheconversion,youcanseetheobservationdataplotbypushing Plot... buttonwith

RTKPLOT.Refer3.7PlotandViewSolutionsandObservationDatafordetails.Youcanalsoviewthe
outputfilewithTextViewerbypushing
button.
(15) Bypushing Process... button,youcanexecuteRTKPOST_MKLAPtoprocesstheconvertedRINEX

OBS/NAVfiles.Refer3.4PostprocessingAnalysiswithRTKPOSTfordetails.
54
3.7
View and Plot Solutions with RTKPLOT
RTKLIBcontainstheAPRTKPLOTtoviewandplotthepositionigsolutionsbyRTKPOSTandRTKNAVI
withgraphicaluserinterface.RTKPLOTalsoacceptsgeneralNMEA0183filesorstreamstogeneratethe
solutionplot.
(1) Execute the binary AP file <install dir>\rtklib_<ver>\bin\rtkplot.exe. You can see the
mainwindowofRTKPLOT.BypushingPlot...buttonorsomebuttonsofRTKPOSTandRTKCONV,
RTKPLOTisalsoexecuted.
PlotType
Selection
QualityFlag
Selection
Tool
Buttons
Time
Scrollbar
Reload/
Clear
Button
ToolBar
PlotArea
StatusBar
Figure3.71MainWindowofRTKPLOT
(2) ExecutethemenuFileOpenSolution1andselectthesolutionfilewiththefileselectiondialog.
TheinputsolutionfilecanbeRTKLIBsolutionformatorNMEA0183.IfthefileformatisNMEA0183,
the file mustcontain at leastNMEA GPRMC and GPGGA sentences. If the solutionfile is valid, the
receivergroundtrackisplotinthewindowonthemap.Thecolorofthemarks,linesandgridinthe
plotcanbechangedwiththemenuEditOptions.Thestatusbaratthebottomofthemainwindow
also shows the time range, the number of solution epochs (N=nnnn), the baseline length
55
(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,
selectthesecondpulldownmenuintheToolBar.Bydraganddropofthesolutionfileicontothemain
windowofRTKPLOT,youcanalsoreadandplotthesolutionfile.
Figure3.72GNDTRKPlotbyRTKPLOT
(3) Bydraggingthemousewiththeleftbuttondownontheplot,youcandragthemapup,down,leftand
right.Youalsochangethescaleofthemapbydraggingthemouseupordownwiththerightbutton
orbyrotatingthescrollwheelofthemouse.
(4) By selecting the plot type pull down menu right in Tool Bar, you can switch the plot to E/N/U
componentsofreceiverposition(Position),E/N/Ucomponentsofreceivervelocity(Velocity)orE/N/U
componentsofreceiveracceleration(Accel).YoucandragtheX/Yaxiswithleftbuttondraggingand
changethescalewithrightbuttondraggingattheX/Yaxisarea.Youcanhideorshowthethreeplots
bypushingthreebuttonsrightoftheplottypepulldownmenu.
56
Figure3.73POSITIONPlotbyRTKPLOT
(5) Byselectingtheplottypepulldownmenu,youcanswitchtheplottoNSat/Age/Ratio(numberofvalid
satellites, age of differential, ratio factor of ambiguity validation). If you set the Output Solution
StatusoptiontoResiduals,youcanshowaresidualsplot.Youcanswitchthefrequencybyselecting
L1/LC,L2orL5.Intheresidualsplotmode,youcanselectasatellitewithrightpulldownmenuaswell
asallsatellites.Intheresidualsplotofcarrierphases,theredlinesindicatecycleslipsandgraylines
indicateparityunknownflags(Thatmeanthehalfcycleambiguitiesincarrierphasearenotresolved).
57
Figure3.74RESIDUALSPlotbyRTKPLOT
(6) BypushingtoolbuttonsintheToolBar,youcancenterthecurrentpositionwith
ofXaxiswith
,adjustthescaleofYaxiswith
,displaythecurrentpositionasalargemarkwith
,fixthecurrenttrackpositionatthehorizontalcenterwith
verticalcenterwith
,startanimationwith
,adjustthescale
,fixthecurrenttrackpositionatthe
andstopanimationwith
.YoucanalsoslideTime
ScrollBartochangethecurrentepoch.Toclearreaddata,executethemenuFileClearorpush
buttonintheToolBar.Toreloadthesolutionfile(s),executethemenuFileReloadorpush
buttonintheToolBar.
(7) By executing the menu File Open Map Image, you can read a JPEG image and draw the map
imageonthebackgroundoftheplotincaseoftheGndTrkplottype.Theimagecanbeenabledor
disabledbypushing
buttonintheToolBar.
58
Figure3.75MapImageOverlaybyRTKPLOT
(8) Toadjustthepositioninthemapimage,executethemenuEditMapImageandinputlatitudeand
longitude of the imagecenter, imagescale along X or YaxisinMap Image dialog.If you finish it,
push Save Tag button to save the adjustment information to an imagetagfile. The path of the
imagetagfile is the original map image file path + .tag. If the imagetagfile already exists, it is
automaticallyreadwiththemapimageitself.Thecurrentversiondoesnotsupportrotationofthemap
image. Please select the map image in which the north direction is properly aligned to the upper
direction.Forexample,youcangetaJPEGimagebythemenuFileSaveofGoogleEarth.Tofix
northtoupper,pushNbuttoninGoogleEarth.Toavoidthedistortionofthemapimage,setthe
coordinatesorigininsideofornearthemapimage.
Figure3.76MapImageOptionsDialogofRTKPLOT
(9) Inversion2.4.2,GoogleEarthViewandGoogleMapViewforRTKPLOTareaddedtoplotthesolution
onGoogleEarthorGoogleMap.ToopenGoogleEarthVieworGoogleMapView,executethemenu
59
View Google Earth View... or View Google Map View of RTKPLOT after the solution read. The
toolbarbuttons
or
canalsobeusedtoshowtheseviews.NotesthattheInternetconnectionis
alwaysnecessarytousetheseviewsbasedonservicesprovidedbyGoogle.
(10) IntheGoogleEarthView,thetoolbarbuttonscanbeusedtoshow/hidenavigationcontrol,show/hide
Lat/Longrid,show/hidescalelegend,show/hideoverviewmap,show/hidestatusbar,enable/disable
layers(terrain,loads,buildingsandborders),switchobjective/perspectiveviews,zoomup/out,rotate
left/rightandfixnorth/headingup.IfthetoolbarbuttonshowtrackpointbuttononRTKPLOTmain
windowisdown,thetrackpointpositionisalsoshownintheGoogleEarthViewasayellow(solution
1)orred(solution2)marker.ThepositionsofmarkersarelinkedtothemarkerpositionsinRTKPLOT
mainwindow.Inthiscase,themarkerpositioncanbefixedtothecenteroftheGoogleEarthViewby
pushing Fix Track Center toolbar button. To enable altitude information of the track point, push
EnableAltitudetoolbarbuttonintheGoogleEarthView.
Figure3.77GoogleEarthViewofRTKPLOT
(11) IntheGoogleMapView,theonlyatoolbarbuttontofixthetrackpointcenterassameastheGoogle
EarthView.OtheroperationsfortheGoogleMapView,usethecontrolsintheGoogleMapView.
60
Figure3.78GoogleMapViewofRTKPLOT
(12) ByexecutingthemenuEditWaypoints...,youcanseetheWaypointsdialog.Withthedialog,
youcanload,save,addanddeletethewaypointsasthelistform.BypushingAddbuttonand
editingthepointname,thecurrentreceiverpositioncanbeaddedtothewaypointlist.Thepositions
ofthewaypointsareshownontheGndTrkplotwhen
buttondown.
Figure3.79WaypointsDialogofRTKPLOT
(13) Toplotmultiplesolutionfile,executethemenuFileOpenSolutions2andselectfilewiththefile
selectiondialog.Youcanswitchtheploton/offofthesolution1and2with12buttonsinToolBar.
ToPlotthedifferenceofthesolution1andthesolution2,push12buttoninToolBar.
(14) Tosetthetimerangeandtimeintervalofthesolutions,executethemenuEditTimeSpan/Interval
andcheckandsettheTimeStart,TimeEndandIntervalfieldinTimeSpan/Intervaldialog.
61
Figure3.710TimeSpan/IntervalDialogofRTKPLOT
(15) ByExecutingthemenuEditSolutionSource,youcanviewthesourceofsolutionsasthetext
form.
Figure3.711SolutionSourceViewofRTKPLOT
(16) Toplotsolutionsinrealtime,executethemenuFileConnectionSettingsandsetsolution
parametersinConnectionSettingdialog.YoucanselectStreamType,StreamOption(Opt),Stream
Commands(Cmd),SolutionFormat,TimeFormat,Lat/LonFormatandFieldSepforbothof
solution1andsolution2.Aftersettingtheconnectionparameters,executethemenuFileConnect
orpush
buttoninToolBar.Todisconnecttheexternaldevice,executemenuFileDisconnector
pushconnectbuttonagain.Forexample,ifselectingserialasStreamTypeandNMEA0183asSolution
Format,youcanmonitorexternalreceiversNMEAoutputintheRTKPLOTwindow.
62
Figure3.712ConnectionSettingsDialogofRTKPLOT
(17) BypushingPlot...buttonofRTKNAVI,RTKPLOTautomaticallyrunsandconnectstothemonitor
portofRTKNAVI.IfyouwanttoconnecttoRTKNAVIexecutedontheremotePC,configurethe
connectionsettingintheConnectionSettingdialoglikeTCPClientasStreamType,IPaddressofthe
remotePCandportnumberofmonitorportofRTKNAVIandconnecttotheremoteRTKNAVI.Inthis
case,multipleclientconnectionsareallowedfrommultiplePCsrunningRTLPLOTs.
(18) ToconfiguretheplottingoptionsforRTKPLOT,executethemenuEditOptions...andsetthe
optionswiththefollowingOptionsdialog.
Figure3.713OptionsDialogofRTKPLOT
63
Item
TimeFormat
Lat/LonFormat
ShowStatistics
CycleSlip
ParityUnknown
Ephemeris
ElevationMask
ElevationMask
Pattern
HideLowSatellite
MaximumDOP
ReceiverPosition
SatelliteSystem
ExcludedSats
ErrorBar/Circle
DirectionArrow
GraphLabel
Grid/GridLabel
Compass
Scale
Descriptions
Selecttimeformat.
(wwww/ssss,h:m:sGPST,h:m:sUTCorh:m:sLT).
Selectlatitudeandlongitudeformat.
(ddd.dddddordddmmss.ss)
Setwhetherstatisticsareshownornot.
Setwhethercycleslippositionisshownornotinthesatellite
visibilityplot.IfLGJumpselected,dualfrequencygeometry
freeLC(linearcombination)isusedtodetectcycleslips.Inthe
caseofLLIFlag,LLI(lossofflockindicator)inRINEX
observationdataisused.Cycleslipsareshownasredvertical
linesintheSatelliteVisibilityplot.
Setwhetherparityunknownstatusisshownornotinthe
satellitevisibilityplot.Parityunknownepochsareshownas
grayverticallinesinthesatellitevisibilityplot.
Setwhetherephemerisstatusisshownornotinthesatellite
visibilityplot.Ephemeridesareshownasthegreylineunder
theobservationdata.GraydotsmeantheToe(timeof
ephemeris).Redephemerislinesmeanthesatelliteunhealthy.
Settheelevationmaskangle(deg)forthesatellitevisibilityplot.
TheelevationmaskisalsousedforDOP/NSatplot.
Setwhetherelevationmaskpatternisusedornot.
Setwhetherlowelevationsatellitesundertheelevationmask
andtheelevationmaskpatternareshownornot.
SettheyaxislimitofDOP/NSatplot.
Setthereceiverpositionforthesatellitevisibilityplotor
skyplot.SingleSolutionusessinglepointresultsasreceiver
positionsbyusingobservationandnavigationdata.For
movingreceivers,youshallsetit.Lat/Lon/Hgtuseslatitude,
longitudeandheightforstaticreceiversspecifiedasthe
followingLat/Lon/Hgtfields.RINEXHeaderusesAPPROX
POSITIONXYZinRINEXobservationdataheaderasthe
receiverposition.
Checkselectednavigationsystemsforplots.
Setexcludedsatellites.FillinthesatellitenumberorID
separatedbyspaces.
Setwhethererrorbarorerrorcircleisshownornotinsolution
display.YoucanselectBar/CircleorDotsastheformat.
Setwhetherdirectionarrowandvelocityarrowareshownor
notinthesolutiongroundtrackplot.
Setwhethergraphlabelsareshownornotinsolutiondisplay.
Setwhethergridandgridlabelsareshownornotinsolution
display.SetittoCirclesorCircles/Labelforcirculargrids.
Setwhethercompassisshownornotinthesolutionground
trackplot.
Setwhetherscaleisshownornotinthesolutiongroundtrack
plot.
64
Notes
Item
AutoFit
YRange(+/)
RTBufferSize
CoordinateOrigin
MarkColor1
(16)
MarkColor2
(16)
LineColor
TextColor
GridColor
BackgroundColor
PlotStyle
MarkSize
Font
Animation
Interval
UpdateCycle(ms)
Lat/Lon/Hgt
Descriptions
Setwhetherscaleisadjustedautomaticallyornotforsolution
plots.
SettherangeofYaxisinsolutionplots.
Setthebuffersizeforrealtimesolutionplotsinepochs.The
oldersolutionsoverthebuffersizearedeletedforrealtime
plots.
Selecttheoriginpositionofsolutiondisplayasfollows.
StartPos:thefirstsolutionposition
EndPos:thelastsolutionposition
AveragePos:theaverageofallsolutionpositions
LinearFitPos:basedonthelinearlyfittedpositions
BaseStation:thebasestationposition.
Lat/Lon/Hgt:latitude,longitudeandheightspecified
AutoInput:autopositionasfollows
Waypoint110:awaypointposition
IfyouselectLat/Lon/Height,youhavetoinputlatitude,
longitudeandellipsoidalheightinthetextfieldsbelowforthe
origin.IfselectingAutoInput,receiverIDisassumedasthe
4charactorsofthesolutionfilenameheadandthepositionis
readfromthepositionfile.Thepositionfilecanbeselectedby
pushing...buttonandpushingLoadbuttoninthepositionlist
dialog.
SetthemarkcolorsforsolutionNo.1orobservationdatain
plots.Clickcolorpanelrightandselectcolorwithcolor
selectiondialog.
SetthemarkcolorsforsolutionNo.2inplots.
Setthelinecolorinplots.
Setthetextcolorinplots.
Setthegridcolorinplots.
Setthebackgroundcolorinplots.
Selecttheplotstyleinplots.Todeleteallofmarkersandlines
exceptforthetrackpointmark,setitNone.
Setthemarksizeinplots.
Selectthefontinplots.Push...buttonandselectthefontwith
thefontselectiondialog.
Settheanimationintervalforsolutionorobservationdata
plots.
Settheplotupdatecycletimeinmsforrealtimeplots
Setlatitude,longitudeandheightfortheorigin.Fillinthe
valuesdirectlyorpush...buttonandselectastationposition.
65
Notes
Item
QCCommand
RINEXOpt
TLEData
SatNo
Descriptions
Notes
SetQCcommandanditsoptionsforobservationdata.
Asdefault,TEQCQCmodeoptionsareset.Thecommandis
usedforexecutingthemenuEditObsDataQC....The
commandmustbeinthecommandsearchpathorinthe
directoryfortheRTKLIBexecutablefiles.
SetRINEXreadoptions.ForRINEXreadoptions,refer
<install dir>\rtklib_<ver>\src\rinex.cfordetails.
SpecifyNORADTLEsatelliteorbitelementdatafile.TheTLE
dataareusedtocomputesatellitepositionsfortheskyplotif
thesatelliteephemerisunavailable.Bothoftwolineformator
threelineformatofTLEdatacanbeused.AsampleTLEdata
canbefoundat:
<iinstall dir>\rtklib_<ver>\data\
catalbe_2l_2013_01_09_pm.txt.
SpecifythesatellitenumberfilewhichistoconnectGNSS
satellite/PRNnumbersandTLEsatellitecatalognumbersin
NORADTLEdatafile.Asamplesatellitenumberfilecanbe
foundat
<install dir>\rtklib_<ver>\data\
TLE_GNSS_SATNO.txt.
Seealso
RTKNAVI
Optionsdialog
(19) ThefollowingmenusareprovidedinRTKPLOT.Somemenuscanbeexecutedbypushingbuttonon
theToolBar.
File
Menu
Tool
Bar
Description
OpenSolution1...
OpensolutiondataNo.1.
OpenSolution2...
OpensolutiondataNo.2.
Notes
*double
click
*double
click
OpenMapImage...
Openmapimagedataforthesolutionplot.
OpenMapPath...
Openmappathdataforthesolutionplot.
BrowseSolution
OpenObsData...
OpenNavData...
Opennavigationdatamanually.
OpenElevMask...
Openelevationmaskdata.
VisibilityAnalysis...
Executesatellitevisibilityanalysis.
SaveImage...
Savetheimageoftheplottoanimagefile.
Save#ofSats/DOP...
SavethenumberofsatellitesandDOPtoantext
file.
ShowSolutionBrowserwindowandbrowse
solutiondata.
Openobservationdata.Navigationdataarealso
openautomatically.
66
Menu
SaveSNR,MPand
AZ/EL..
Tool
Bar
Notes
SavetheSNR,multipathandazimuth/elevation
datatoantextfile.
Connect...
Connecttoexternalrealtimesolutionstreams.
Disconnect...
Disconnecttheconnection.
ConnectionSettings...
Reload
Clear
Exit
TimeSpan/Interval...
MapImage...
Waypoints...
SolutionSource...
ObsDataSource...
ObsDataQC...
CopyToClipboard
Options
ShowtheConnectionSettingdialogto
configuretheconnectionoptions.
Reloadsolution,observationandnavigation
data.
Clearsolution,observationandnavigationdata.
CloseandexitRTKPLOT.
SettheTimeSpan/Intervaldialogtosettime
spanandtimeinterval.
ShowtheMapImagedialogtoconfigurethe
size,positionandscaleoftheimagedata.
ShowtheWaypointdialogtoaddormodifythe
waypoints.
ShowthesourceofthesolutiondatabyText
Viewer.
ShowthesourceoftheobservationdatabyText
Viewer.
ExecuteQCoftheobservationdataandshowthe
resultsbyTextViewer.
Edit
CopytheimageoftheplottoClipboard.
ShowtheOptionsdialogtoconfigureplot
options.
ShowToolBar
ShoworhidetheToolBar.
ShowStatusBar
ShoworhidetheStatusBar.
GoogleEarthView...
ShowGoogleEarthView.
GoogleMapView...
ShowGoogleMapView.
InputMonitor1...
InputMonitor2...
View
Description
CenterOrigin
FitHorizontal
FitVertical
ShowTrackPoint
ShowtheInputMonitorwindowforrealtime
inputstreamNo.1.
ShowtheInputMonitorwindowforrealtime
inputstreamNo.2.
Movethecoordinatesorigintothecenterofthe
plot.
Fitthehorizontalrangeofthesolutionor
observationdataintheplot.
Fittheverticalrangeofthesolutiondatainthe
plot.
Showorhidethetrackpointofthesolutionor
observationdataintheplot.
67
Help
Menu
Tool
Bar
Description
FixTrackCenter
Fixthetrackpointonthecenteroftheplot.
FixTrackHorizontal
Fixthetrackpointhorizontallyontheplot.
FixTrackVertical
Fixthetrackpointverticallyontheplot
ShowMapImage
Showorhidethemapimage.
ShowPath/Waypoints
Showorhidethemappathdata.
AnimationStart
Starttheanimationoftheplot.
AnimationStop
Stoptheanimationoftheplot.
ShowtheAbout...dialog.
About...
Notes
68
3.8
View and Plot Observation Data with RTKPLOT
RTKPLOTisalsousedtoviewandplottheRINEXobservationdataaswellassatellitevisbilityanalysis.
(1) ToplottheRINEXobservationdata,executemenuFileOpenObsDataofRTKPLOTandselect
theRINEXobservationandnavigationmessagefiles.YoucanselectmultipleRINEXfiles.Ifyoudonot
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,Galileoorcombinednavigationdata.IfyouwantreadtheRINEXnavigation
messagefileseparately,executethemenuFileOpenNavMessages.Iftheinputfilescanberead
properly,youcanseeasatellitevisibilityplot.Youcanuseleftbuttonorrightbuttondragtochange
thetimespan.Youcanalsousesometoolbarbuttonsaswellasforthesolutionplot.
Figure3.81SatelliteVisibilityPlotofRTKPLOT
(20) ByselectingthepulldownmenuinToolBar,youcanswitchtheplottothesatellitevisibilityinskyplot
(SkyPlot) or the plot of the number of visible satellites, the DOP/NSat plot (DOP/NSat), the
SNR/Multipath/Elevationplot(SNR/MP/EL)andtheSNR/MultipathELplot(SNR/MPEL).Toshow
the SNR plots, the observation data must contain SNR (C/N0) information. To show the proper
multipath plots, the observation data must contain dualfrequency (L1L2 for GPS, GLONASS and
QZSS, L1L5 for Galileo, L2L7 for BeiDou) pseudorange and carrierphase. RTKPLOT internally
69
generates MPLC (linear combination) withthese observablesto plot themultipath. Tocompute the
elevationangleofsatellites,RTKPLOTalsoneedsatellitepositions.IncaseofRINEXNAVfilesinput,
thesatellitepositionsarecomputedbyusingsatelliteephemeridesinRINEXNAVfiles.IftheRINEX
NAVfilesarenotavailable,RTKPLOTalternativelyusesNORADTLE(twolineelement)datasetfor
satellite positions. In this case, you must specify the receiver position as the latitude, longitude and
heightformintheOptionsdialog.Youcanselectsignalsandsatelliteswithupperpulldownmenus
onthetoolbar.Inthesatelliteselection,G,R,E,J,CandSmeanGPS,GLONASS,Galileo,
QZSS,BeiDouandSBAS,respectively.
Figure3.82SkyplotbyRTKPLOT
70
Figure3.83#ofVisibleSatellitesandDOPPlotbyRTKPLOT
Figure3.84SNR/MultipathPlotbyRTKPLOT
71
Figure3.85SNR/MultipathElevationPlotbyRTKPLOT
(21) YoucanapplytheelevationmaskbyreadingtheelevationmaskdatabythemenuFileOpenElev
MaskandbysettheoptionElevMaskPatternON.Fortheformatoftheelevationmaskdata,refer
theexamplefilefoundin<install dir>\rtklib_<ver>\data\elmask_sample.txt.
Figure3.86ElevationMaskinSkyplotbyRTKPLOT
(22) By Executing the menu Edit Obs Data Source or Obs Data QC, you can view the source of
72
solutionsortheQCresultasthetextform.
Figure3.87QCResultViewbyRTKPLOT
(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
visibilitybyRTKPLOTanywhereandanytime.Toenablethisfeature,settheTLEdataandthesatellite
numberfilepathbyOptionsdialog.Thefollowingfiguresshowexamplesofthesefiles.
73
Figure3.88ExamplesofTLEData(upper)andSatelliteNumberFile(lower)
NORAD TLE data files are freely available at CelesTrak (http://celestrack.com) or SpaceTrack
(http://www.spacetrack.org). You have to download TLE data containing orbit elements of target
GNSSsatellites.ForallofGNSSsatellites,youhadbettertousefullcatalogforallavailablesatellites
providedbySpaceTrack.Formoreaccuratesatellitepositions,youhadbettertousenewerTLEdata.
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
satellitenumberswithsatellitesissometimeschangedbythesystemconstellationchange.Inthiscase,
youshalleditandmodifythesatellitenumberfilebyyourself.
TopredicttheGNSSsatellitevisibility,setuserlocationaslatitude,longitudeandheightbyOptions
dialog.YouhavetosetReceiverPositiontoLat/Lon/Hgt.ThenexecutethemenuFileVisibility
Analysis...,youcanseeTimeSpan/Intervaldialog.
Figure3.89TimeSpan/IntervalDialogofRTKPLOT
74
By the dialog, set Time Start, Time End in GPS Time, Interval for the analysis and push OK
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
switchtheplottoSkyplot,DOP/NSatorSNR/MP/ELassameastheobservationdataplots.
Figure3.810SatelliteVisibility(Predicted)PlotbyRTKPLOT
Figure3.811Skyplot(Predicted)byRTKPLOT
75
(24) FortheplottingoptionsforsolutiondatabyRTKPLOTandthemenusprovidedbyRTKPLOT,refer
3.7ViewandPlotSolutiondatawithRTKPLOT.
76
3.9
Download GNSS Products and Data with RTKGET
ForPPP(precisepointpositioning)analysis,youwouldoftenneedtodownloadIGS(InternationalGNSS
service)preciseGNSSproductslikesatelliteorbitandclockinformation.Inothercases,youmightwantto
downloadtheobservationdataofaCORS(continuousoperatingreferencestations)networkfromaGNSS
dataarchiveviaInternet.TodownloadtheseGNSSrelatedproductsanddata,RTKLIBoffersausefulGUI
downloadutilityAPRTKGET.RTKGETisnewlyaddedinver.2.4.2.
(1) Execute the binary AP file <install dir>\rtklib_<ver>\bin\rtkget.exe. You can see the
mainwindowofRTKGET.
Figure3.91MainWindowofRTKGET
(2) Atfirst,youhavetoconfiguretheURLlistfileforGNSSdata.Push Options... buttoninthemain

window.YoucanseetheOptionsdialog.
77
Figure3.92OptionsDialogofRTKGET
(3) Fillinthefilepathorselectthefilebypushing...ofURLListFileforGNSSData.ReferAppendix
B.5 for the format of the file. An example of the URLlist file for GNSSdata is found at <install
dir>\rtklib_<ver>\data\URL_LIST.txt.Ifyouleavethefieldblank,RTKGETusesthedefault
URLListfile<install dir>\rtklib_<ver>\data\URL_LIST.txt.
(4) Selectdownloaddatatypebytheleftlistboxinthemainwindow.Youcanselectmultipledatatypes
inthelist.Byusingcomboboxabovethelistbox,youcanfilterthelistbydatatypecategories.The
URLaddressofdownloaddataisshownatthecenterofthefirstmessagearea.Thelocaldirectoryis
alsoshowninthesecondmessagearea.
Figure3.93SelectionofDownloadDataTypebyRTKGET
78
(5) SpecifythetimespaninGPSTimewithStart,EndandIntvfields.ThetimekeywordsintheURL
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 No. field. To specify a
sequenceofnumbers,use-toexpresstherangelike1-99intheNo.field.
(6) The URL address contains keyword %s, %S or %r, the keyword is replaced by the station names
selectedintherightlistboxStations.Toselectthestationname,push...buttonattherightupper
cornerinthemainwindow.YoucanseetheStationsdialog.Youcaninputoreditthestationname
lists in the dialog. A line of the station name lists indicate a station name to be used to replace the
keywordsintheURLaddress.Toloadstationnamelistfromaexternaltextfile,pushLoad...button
toselectthefile.Youcansavethestationnamelisttoexternaltextfilebypushing Save... button.
Theexternaltextfileissimpletextfilecontainingstationnamesastextlines.Afterinputoreditthe
stationnamelist,push OK buttontoclosethedialogandsetthestationnamelisttothemain
window.
Figure3.94StationsDialogofRTKGET
(7) IncaseofFTPdownload,setFTPLoginandPasswordforFTPserverlogin.Forthemostofthe
anonymousFTPservers,youcanuseanonymousandyourEmailaddressforthefileds.Thencheck
oruncheckthefollowingdownloadoptions:
(a)SkipExistingFiles:Setwhetheryouskipthedownloadornotifthelocalfileexists
(b) Unzip/Uncompact Files: Set whether you unzip of uncompress the download files if these are
compressed.
79
(c)LocalDirectory:Checkandsetthelocaldirectorypathfordownloadedfiles.Push ... toselect
directorybytheDirectorySelectiondialog.Ifnotchecked,thedefaultdownloaddirectoryinthe
URLlistfile.Thedirectorypathcancontainkeywordstobereplacedbydate,time,stationnameand
envrionment variable as same as URL list. Push ? button to show detailed replacement in the
directorypath.
Figure3.95KeywordReplacementDialogofRTKGET
(8) SelectstationnamesinStationslistbox.PushAbuttontoselectallofstationsandDbuttonto
deselectallofstations.
(9) Push Download buttontostartdownload.Thethirdmessageareashowsthedownloadstatus

indicator for each file. The indicator _ means in progress, o means download OK, . means
skipped, x means no data and X means some download error. To abort the download halfway,
pushAbortbutton.Eveninpushingthebutton,thelastdownloadstillinprogresscannotcanceled.
Pleasewaitawhiletofinishthelastdownloadtoabort
Figure3.96DataDownloadingbyRTKGET
80
(10) Aftercompletingallofthedownloadsorabortingthedownload,pushFiles...buttoninthemain
windowtoexecuteWindowsexplorershowingthedownloadedlocaldirectory.Toseethedownload
log,push Log... button.YoucanseethedownloadloginTextViewerwindow.Toenablethe
download log function, you have to set the Download Log File field in the Options dialog. If
Appendcheckedforthedownloadlog,thelogsareaddedtotheexistinglogfileifitexists.Ifnot
checked,thedownloadlogisnewlygeneratedforeverytriesofdownloads.
Figure3.97DownloadLogViewbyRTKGET
(11) TotestGNSSdataexistenceaslocalfilesbeforeactualdatadownload,push Test... buttonafter

settingsassameastheactualdownloaddescribedabove.Youcanseethelocaldataavailabilityreport
intheTextViewerwindow.YoucansavethereportbypushingSave...buttonandspecifythefile
path in the file save dialog. The number of columns and date format of the local data availability
reportcanbemodifiedbytheOptionsdialog.
81
Figure3.98LocalFileTestViewbyRTKGET
(12) Bydefault,thedetailedlogforthedownloadprogressanderrorsisautomaticallydeleted.Tokeep
sucherrorlogs,checkKeepErrorInfoonDownloadErrorintheOptionsdialog.Thedetailederror
logissavedasthefile<local dir>\<file>.errforeachdownloadfile.Tokeepremotefilelistfile
inordertoanalyzetroubleseasily,checkKeepRemoteDirectoryListingaswell.Theremotefilelist
issavedasthefile.listinginthecurrentdirectory.
82
3.10 NTRIP Browser
NTRIP(NetworkedTransportofRTCMviaInternetProtocol)isacommunicationprotocoltointerchange
GPS/GNSSrelateddatasuchasreceiverrawobservationdata,ephemeridesandcorrectionsforDGPSor
RTKGPS. NTRIP specifies the table format of socalled Source Table, which represents contents list of
provideddatabyNTRIPservers.RTKLIBincludesasimplebrowserforNTRIPSourceTables.
(1) ExecutethebinaryAPfile rtklib_<ver>\bin\srctblbrows.exe.Youcanseethemainwindow

ofNTRIPSourceTableBrowser.
Figure3.101MainWindowofNTRIPBrowser
(2) Push
button upper left in the main window, leaving right pull down menu of NTRIP caster list
blank.Ifthebottomstatusbarshowsconnecting...andthenupdatecasterlist,theNTRIPcasterlist
isupdated.Ifthepulldownmenuisblank,thebrowseracquirestheNTRIPcasterlistfromthedefault
NTRIPinfocasterrtcm-ntrip.org:2101andupdatethelist.Tochangethesourceofthelist,fillthe
NTRIPcasteraddressastheformof<address>:<port> inthepulldownmenuandpush
button.
Ifyouomitportnumber,thebrowserusesthedefaultportnumber2101.
(3) Select the caster in the pull down menu and push
button. If the status bar shows source table
received, the browser properly received a NTRIP Source Table from the selected NTRIP caster and
showsitinthewindow.Thestatusbaralsoindicatetheerrormessageifaproblemarises.
83
Figure3.102NTRIPStreamListViewbyNTRIPBrowser
(4) Bypushingfieldtitle,youcansortthelistbythefieldcolumn.YoualsocanpushSTR,CAS,NET,
SRCtoswitchthecontentsoftheSourceTabletoStreamList,CasterList,NetworkListandOriginal
SourceTable.
Figure3.103NTRIPSourceTableViewbyNTRIPBrowser
84
(5) Bypushingthe MAP inToolBar,youcanopenthemapviewofthepositionsoftheNTRIPmount

pointsbyGoogleMap.Byclickthemarkerinthemapview,youcanshowthedetailinformationofthe
mount point. By selecting a mount point in the NTRIP browser window, indicate the mount point
positioninthemapbychangethemarkerscolor(red).
Figure3.104MapViewofStationPositionsbyNTRIPBrowser
85
3.11 Use CUI APs of RTKLIB
RTKLIBincludesthefollowingCUIAPs.TheseCUIAPsonlyusestandardANSIC(C89)functionsanda
smallnumberofstandardClibrariestoensuretheportability.SoyoucouldbuildtheseCUIAPsonthe
nonWindowsenvironmentlikeLINUX,UNIX,MACOSXandsoon.Youcanalsobuildandexecutethese
APsonembeddedCPUlikeARM.ReferAppendixACUICommandReferencesfortheseAPsincluding
commandlineoptions.FortheproceduretobuildtheseAPs,refer4.2BuildCUIAPsofRTKLIB.Notesthat
youmighthavetomodifymakefiletoadjustthebuildenvironmentbuttheprogramitselfdoesnotneed
tomodifytoportitonthemostofenvironments.
(1) RTKRCV
RealtimePositioning.TheconsoleAPversionofRTKNAVI.
(2) RNX2RTKP
PostProcessingAnalysis.TheconsoleAPversionofRTKPOST.
(3) POS2KML
GoogleEarthKMLconverterforsolutionfiles.
(4) CONVBIN
RINEXConverterofreceiverrawdata.TheconsoleAPversionofRTKCONV.
(5) STR2STR
StreamServer.ConsoleAPversionofSTRSVR.
86
Build APs or Develop User APs with RTKLIB
4.1
Rebuild GUI and CUI APs on Windows
TomodifysomefunctionsofRTKLIBortoinstallyournewmodelstoRTKLIB,youmaywanttorebuild
APs.Tofixexistingbugs,youalsomayneedtorebuildAPstoapplypatches.TorebuildGUIandCUIAPs
on Windows, you need Embarcadero C++ Builder XE2 or XE3 (http://www.embarcadero.com). RTKLIB
internallyonlyutilizesfundamentalVCL(visualcomponentlibrary)functionsprovidedbyC++builder.At
least,thebasicstartereditionisenoughtorebuildRTKLIBAPs.Thefollowinginstructionsshowshowto
rebuildGUIandCUIAPsonWindows.
(1) ExecuteEmbarcaderoC++BuilderXE2orXE3.
(2) ExecutethemenuFileOpenProject...ofC++buildertoopentheC++builderprojectfileofthe
targetAP(<app>.cbproj or _<app>.cbproj, <app> isthetargetAPlikertkpost,rtkplotor
rtknavi)intheapplicationprogramdirectory(<install dir>\rtklib_<ver>\app\<app> or
<install dir>\rtklib_<ver>\app\<app>\bcc\).
(3) ExecutethemenuProjectRebuild<app>ofC++buildertorebuildthetargetAP.
(4) Execute(doubleclickthefileorinputthecommand)theWindowsbatchfileinstall.batinthesame
directoryastheprojectfile.Itcopiesanewlybuiltexecutablebinaryprogramtothedirectoryof
RTKLIBbinaryprograms(<install dir>\rtklib_<ver>\bin).
(5) TorebuildalloftheGUIAPsortheCUIAPs,opentheC++buildergroupprojectfile<install
dir>\rtklib_<ver>\app\rtklib_winapp.gourpprojor<install
dir>\rtklib_<ver>\app\rtklib_consapp.gourpproj. ExecutethemenuProjectBuild
AllProjectsofC++builder.Executethebatchfileinstall_winapp.bator
install_consapp.batinthesamedirectorytocopythemtothebinaryprogramdirectory.
87
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 togenerateAPsdependingtoyourenvironment.
(1) Movetotheapplicationprogramdirectory(rtklib_<ver>/app/<app>)ofthetargetAP.
>> cd <install_dir>/rtklib_<ver>/app/<app>
(2) Movetogccdirectory.
>> cd gcc
(3) Editandmodifymakefiletoadjustthefiletoyourenvironment.
>> vi makefile
(4) ExecutemaketobuildtheAPandmake installtoinstallthebinaryfiletoappropriateBINdirectory.

>> make
>> make install
88
4.3
Develop and Link User APs with RTKLIB
RTKLIBprovidethefollowinggeneralpurposeCfunctionscallablefromuserAP(applicationprogram).
UsercanusethesefunctiontodevelopuseroriginalpositioningAPs.
(1) Matrixandvectorfunctions
(2) Timeandstringfunctions
(3) Coordinatestransformationandgeoidmodel
(4) Navigationprocessing
(5) Positioningmodels(troposphere,ionosphere,antennaPCV)
(6) SBASDGPS/DGNSScorrection
(7) Singlepointpositioning
(8) Carrierbasedandcodebasedrelativepositioning
(9) OTFintegerambiguityresolution
(10) Receiverrawbinarydatainput
(11) Positioningsolution/NMEAinput/output
(12) RINEXobservationdata/navigationmessageinput/output
(13) Preciseephemerisinput
(14) Streamdatacommunicationlibrary
(15) NTRIP(NetworkedTransportofRTCMviaInternetProtocol)library
(16) RTKGPS/GNSSpositioningserver
(17) RTCM2.3and3.0/3.1/3.2messagehandling
(18) Downloaderfunctions
ThefollowinginstructionsshowsthewaytoutilizethelibraryofRTKLIBinuserAP.
(1) AddthefollowingincludedirectivetothesourceprogramofuserAP.
#include "rtklib.h"
(2) SetthefollowingcompileroptiontoaddRTKLIBsourcedirectorypathtocompilerincludepaths.
-I rtklib_<ver>\src
(3) AddthenecessaryRTKLIBlibrarysourcefilestosourceprogramssetfortheAPbuild.ReferAppendix
CLibraryAPIsforthelibraryfunctionlistandsourceprogramsprovidedbyRTKLIB.
89
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 realtime positioning AP by RTKLIB. To start or stop RTK server, to
configureoptionsortoprintsolution/status,loginaconsoleandinputcommands.Asdefault,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
configurationfilertkrcv.conf.Tochangethefile,useooption.Toconfiguretheprocessingoptions,edit
the configuration file or use set, load or save command on the console. To shutdown the program, use
shutdowncommandontheconsoleorsendtheUSR2signaltotheprocess.Forconfigurationfile,referB.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.
90
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.
91
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.
92
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)
positionsandoutputpositionsolutions.
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/HNAVfileshallbeincludedininputfiles.TouseSP3preciseephemeris,specifythepathin
the files. The extension of the SP3 file shall be .sp3 or .eph. All of the input file paths can include
wildcards(*).Toavoidcommandlinedeploymentofwildcards,use...forpathswithwildcards.
Commandlineoptionsareasfollows([]:default).Withkoption,theprocessingoptionsareinputfromthe
configuration file. In this case, command line options precede options in the configuration file. For the
configurationfile,referB.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]
93
-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
Example1.KinematicPositioning,L1+L2,outputLatitude/Longitude/HeighttoSTDOUT.
> rnx2rtkp 07590920.05o 30400920.05o 30400920.05n
Example2.SinglePointPositioning,ElMask=15deg,outputNMEAGGAtofileout.pos
> rnx2rtkp -p 0 -m 15 -n -o out.pos 07590920.05o 30400920.05n
Example3.StaticPositioning,L1,timeformyyyy/mm/ddhh:mm:ss,outputX/Y/ZECEFpositions
> rnx2rtkp -p 3 -f 1 -t -e 07590920.05o 30400920.05o 30400920.05n
Example4.KinematicPositioning,InstantaneousAR,validationthreshold=2,commaseparator
> rnx2rtkp -i -v 2 -s , 07590920.05o 30400920.05o 30400920.05n
94
A.3
POS2KML
SYNOPSIS
pos2kml [option ...] file [...]
DESCRIPTION
Readpositionfile(s)andconvertittoGoogleEarthKMLfile.Eachlineintheinputfileshallcontainfields
of time, position fields (Latitude/Longitude/Height or X/Y/ZECEF), and Quality flag (option). The line
startedwith%,#,;istreatedascomment.Commandoptionsareasfollows.([]: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]
95
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
ConvertRTCM,receiverrawdatalogandRINEXfiletoRINEXandSBAS/LEXmessagefile.SBASmessage
filecomplieswithRTKLIBSBAS/LEXmessageformat.Itsupportsthefollowingmessagesorfiles.
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]
96
-tr y/m/d h:m:s
-ti tint
approximated time for rtcm messages
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]
97
-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)areused.
Ifreceivertypeisnotspecified,typeisrecognizedbytheinputfileextensionasfollows.
*.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
98
A.5
STR2STR
SYNOPSIS
str2str -in stream[#...] -out stream[#...] [-out stream[#...]...] [options]
DESCRIPTION
InputdatafromastreamanddivideandoutputthemtomultiplestreamsTheinputstreamcanbeserial,
TCPclient,TCPserver,NTRIPclient,orfile.Theoutputstreamcanbeserial,TCPclient,TCPserver,NTRIP
server,orfile.str2strisaresidenttypeapplication.Tostopit,typeCtrlCinconsoleifrunforegroundor
send signal SIGINT for background process. if run foreground or send signal SIGINT for background
process.ifbothoftheinputstreamandtheoutputstreamfollow #format,theformatofinputmessages
areconvertedtooutput.Tospecifytheoutputmessages,use-msgoption.
Commandoptionsareasfollows.
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)
99
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
100
Appendix B File Formats

B.1
Positioning Solution File
DESCRIPTION
A positioningsolution file isjust a text fileas output of RTKNAVI or RTKPOST. The fileis separated to
records or lines by CR/LF. Each records consists of fields. The following table shows the format of the
positioningsolutionfile.
No
Record/Field
Fileheader
Fieldindicator
Solutionbody
(1)
Time
Description
Thelinesstartingwith%areheaderlines.Theheaderlines
containssomeadditionalinformationorprocessingoptionsas
follows.
% program:programversion
% inp file:Inputfilepath
% obs start:ObservationdatastarttimeinGPStime
% obs end:ObservationdataendtimeinGPStime
% pos mode:Positioningmodeoption
% freqs:Frequenciesoption
% solution:Solutiontypeoption
% elev mask:Elevationmaskangleoption
% snr mask:SNRmaskoption
% ionos est:Ionosphericparameterestimationoption
% tropos est:Troposphericparametersestimationoption
% amb res:Integerambiguityresolutionoptions
% val thres:Integerambiguityvalidationoption
% ref pos:positionoftheantennaofthebasestation
Fieldindicatorstartingwith%linefollowsafterFileheader.
Torecognizethefieldformats,RTKLIBusestheselines.Donot
deletethem.
Solutionbodyconsistsofthefollowingfields.
Thefieldcontentsarevariedaccordingtothepositioningoptions.
Theepochtimeofthesolutionindicatingthetruereceiversignal
receptiontime(notindicatesthetimebyreceiverclock).Theformat
isvariedtotheoptions.
Notes
yyyy/mm/dd HH:MM:SS.SSS :
CalendartimeinGPST,UTCorJST,thetimesystemisindicatedin
Fieldindicator
(2)
Receiver
Position
WWWW SSSSSSS.SSS :
GPSweekandTOW(timeofweek)inseconds.
The rover receive antenna or marker position estimated varied

accordingtothepositioningoptions.
101
No
Record/Field
Description
Notes
+ddd.ddddddddd +ddd.dddddddd hhhh.hhhh:

Latitude,longitudeindegreesandheightinm.Minusvaluemeans
southlatitudeorwestlongitude.Theheightindicatesellipsoidalor
geodeticaccordingtothepositioningoptions.
+ddd mm ss.sss +ddd mm ss.sss hhhh.hhhh:

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

X/Y/ZcomponentsofECEFframeinm.
(3)
Qualityflag
(Q)
(4)
Numberof
validsatellites
(ns)
Standard
deviations
(sdn,sde,sdu,
sdne,sdeu,
sdun)
(5)
(6)
(7)
Ageof
differential
(age)
Ratiofactor
(ratio)
+eeeeeeeee.eeee +nnnnnnnnn.nnnn +uuuuuuuuu.uuuu:

E/N/Ucomponentsofbaselinevectorinm.Thelocalcoordinateis
referencedtotheroverposition.
Theflagwhichindicatesthesolutionquality.
1:Fixed,solutionbycarrierbasedrelativepositioningandthe
integerambiguityisproperlyresolved.
2:Float,solutionbycarrierbasedrelativepositioningbutthe
integerambiguityisnotresolved.
3:Reserved
4:DGPS,solutionbycodebasedDGPSsolutionsorsinglepoint
positioningwithSBAScorrections
5:Single,solutionbysinglepointpositioning
Thenumberofvalidsatellitesforsolutionestimation.
Theratiofactorofratiotestforstandardintegerambiguity
validationstrategy.Thevaluemeanstheratioofthesquaredsumof
the residuals with the second best integer vector to with the best
integervector.
EXAMPLE
program
inp file
inp file
inp file
obs start
obs end
pos mode
freqs
:
:
:
:
:
:
:
:
Theestimatedstandarddeviationsofthesolutionassumingapriori
errormodelanderrorparametersbythepositioningoptions.
Thesdn,sdeorsdumeansN(north),E(east)orU(up)
componentofthestandarddeviationsinm.Theabsolutevalueof
sdne,sdeuorsdunmeanssquarerootoftheabsolutevalueofNE,
EUorUNcomponentoftheestimatedcovariancematrix.Thesign
representsthesignofthecovariance.Withallofthevalues,usercan
reconstructthefullcovariancematrix.
The time difference between the observation data epochs of the
roverreceiverandthebasestationinsecond.
%
%
%
%
%
%
%
%
RTKLIB ver.2.3.0b
G:\rtklibtest\20090831\omre196a.09o
G:\rtklibtest\20090831\tevc196a.09o
G:\rtklibtest\20090831\omre196a.09n
2009/07/15 07:10:00.0 GPST (week1540 285000.0s)
2009/07/15 07:59:50.0 GPST (week1540 287990.0s)
kinematic
L1+L2
102
% 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
103
B.2
SBAS Log File
DESCRIPTION
ASBASlogfileisoutputofRTKCONV,thatisatextfileinwhichalinecontainsaSBASmessagecaptured
bytheGPS/GNSSreceiver.ThefollowingtableshowstheformatoftheSBASlogfile.
No
1
Record/Field
(2)
SBAS
messages
GPSweek
number
Timeofweek
(3)
PRNnumber
(4)
Messagetype
(5)
Separator
(6)
SBASmessage
(1)
Description
AlinecontainsaSBASnavigationdataframe,whichconsistsofthe
followingfields.
GPSweeknumberofSBASnavigationdataframe.
TimeofweekofSBASnavigationdataframeinseconds.
PRNnumberofSBASsatellitetransmittingthenavigationdata
ThetypeIDoftheSBASmessageintheframe(063).ReferSBAS
specificationsfordetails:
RTCA/DO229C,Minimumoperationalperformancestandardsfor
GlobalPositioningSystem/WideAreaAugmentationsystem
airborneequipment
:
Hexadecimaldumpofa226bitSBASmessagewithout24bit
parityfield.Themessagetailis0paddedtoalignto8bitboundary.
ReferSBASspecificationsforthedetailedmessageformat.
Notes
EXAMPLE
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
1471
349007
349007
349008
349008
349009
349009
349010
349010
349011
349011
349012
349012
349013
349013
349014
349014
349015
349015
349016
349016
349017
349017
349018
349018
349019
137
129
129
137
137
129
137
129
137
129
137
129
129
137
129
137
129
137
137
129
137
129
129
137
129
25
25
4
4
3
2
2
3
26
26
28
28
9
9
4
4
2
3
2
3
25
25
63
63
26
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
C666A0A7F1FE6000027F80000003468000000000000000000000000000
C666A0A7F4FE6004047F80000003468000000000000000000000000000
53109FFFFF5FFDFFDFFDFFFFC7FA9FFDFFDFFDFFDFFF9BBBBB33FFFFC0
53129FFC001FFDFFDFFDFFFFA0009FFDFFDFFDFFDFFF9BBBBB33FFFFC0
9A0C9FFDFFDFFFFFDFFC017FF9FFDFFC009FFC015FFFBB97B9BB9FBB80
9A0A9FFFFC9FFFFE9FFDFFDFFDFFDFFDFFFFF7F93FFBE79BBBBBB9FA00
C60A9FFFFD1FFFFFDFFDFFDFFDFFDFFDFFC003F88003E79FBBFBB9FA00
C60E9FFDFFDFFFFE9FFC007FEDFFDFFFFFDFFFFFDFFFBB97B9BB9FBB80
536A0029E0EF0FF05F829C11C076033015A09D047037C1DE14F08FE000
536A0821A0DD05E82B813E0EF0F7897C27C12E08683B419C0BE057E000
9A723440E44E810029FF1F1F379C0BC35D4BE2B8078F15903253960200
9A722CB5D8739087B46B107DA8D9E828694B55F843782100AF146AD980
C62434198D3F5D92BA855704800236DFE84FE06FFA47FE7FF0008E0240
C6260C198D32310732404C1D40183CDFD187C8F3FF7FFD800FF7D6BE40
53119FFFFF9FFDFFDFFDFFFFD3FA5FFDFFDFFDFFDFFF9BBBBB33FFFFC0
53109FFC005FFDFFDFFDFFFFAFFFDFFDFFDFFDFFDFFF9BBBBB33FFFFC0
9A089FFFFC5FFFFEDFFDFFDFFDFFDFFDFFFFFBF8FFFFE79BBBBBB9FA00
9A0D9FFDFFDFFFFF9FFC017FFDFFDFFC00DFFC015FFFBB97B9BB9FBB80
C6089FFFFD5FFC001FFDFFDFFDFFDFFDFFFFFFF8BFFFE79FBBFBB9FA00
C60C9FFDFFDFFFFE5FFC007FF1FFDFFC001FFFFFDFFFBB97B9BB9FBB80
5366587803FE3FF0010080FFFF835E8000000000000000000000000000
5366587FFDFEDFF40400800000035E8000000000000000000000000000
9AFC000000000000000000000000000000000000000000000000000000
9AFC000000000000000000000000000000000000000000000000000000
C66A0C53E26F09704781DC0DE06702FC19E1EF09F047821C0EF05FE000
104
1471 349019 137 26 : C66A0431E17E0A704741F80DC05E827815C0EF09F877C2FC15E096E000
1471 349020 137 4 : 53119FFC001FFDFFDFFDFFFF9C001FFDFFDFFDFFDFFF9BBBBB33FFFFC0
1471 349020 129 4 : 53129FFFFF5FFDFFDFFDFFFFC3FA9FFDFFDFFDFFDFFF9BBBBB33FFFFC0
105
B.3
Solution Status File
DESCRIPTION
AsolutionstatusfileisoutputofRTKNAVIorRTKPOST,thatisatextfilewhichcontainstheinternalstatus
of the positioning process. The internal status include estimated states of Kalman filter and residuals of
measurementstoanalyzethesolutionquality.Thefollowingtableshowstheformatofthesolutionstatus
file.
No
Record/Field
Description
PositionStates
Velocity/
Acceleration
States
Receiver
Clockbias
States
Ionosphere
Parameter
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:gpsweekno/timeofweek(s)
stat:solutionstatus
posx/posy/posz:positionx/y/zecef(m)float
posxf/posyf/poszf:positionx/y/zecef(m)fixed
Estimatedrovervelocityandaccelerationinthefilter.Theformatof
arecordisasfollows.
$VELACC,week,tow,stat,vele,veln,velu,acce,accn,accu,velef,velnf,\
veluf,accef,accnf,accuf
stat:solutionstatus
vele/veln/velu:velocitye/n/u(m/s)float
acce/accn/accu:acceleratione/n/u(m/s^2)float
velef/velnf/veluf:velocitye/n/u(m/s)fixed
accef/accnf/accuf:acceleratione/n/u(m/s^2)fixed
Estimatedreceiverclockbiasparameters.Theformatofarecordis
asfollows.
$CLK,week,tow,stat,rcv,clk1,clk2,clk3,clk4
stat:solutionstatus
rcv:receiver(1:rover,2:basestation)
clk1:receiverclockbiasGPS(ns)
clk2:receiverclockbiasGLONASS(ns)
clk3:reserved
clk4:reserved
Estimated ionosphere parameter (vertical L1 ionosphere delay
difference).Theformatofarecordisasfollows.
$ION,week,tow,stat,sat,az,el,ion,ionfixed
stat:solutionstatus
sat:satelliteid
106
Notes
No
Record/Field
Troposphere
Parameter
States
ReceiverH/W
biasStates
Residuals
Description
Notes
az/el:azimuth/elevationangle(deg)
ion:verticalionosphericdelayL1(m)float
ionfixed:verticalionosphericdelayL1(m)fixed
Estimated troposphere parameter (vertical troposphere delay
residual).Theformatofarecordisasfollows.
$TROP,week,tow,stat,rcv,ztd,ztdf
stat:solutionstatus
rcv:receiver(1:rover,2:basestation)
ztd:zenithtotaldelay(m)float
ztdf:zenithtotaldelay(m)fixed
EstimatedGLONASSreceiverH/Wbiasdifference.Theformatofa
recordisasfollows.
$HWBIAS,week,tow,stat,frq,bias,biasf
stat:solutionstatus
frq:frequency(1:L1,2:L2,3:L5,...)
bias:h/wbiascoefficient(m/MHz)float
biasf:h/wbiascoefficient(m/MHz)fixed
Residuals of pseudorange and carrierphase observables. The
formatofarecordisasfollows.
$SAT,week,tow,sat,frq,az,el,resp,resc,vsat,snr,fix,slip,lock,outc,\
slipc,rejc
sat/frq:satelliteid/frequency(1:L1,2:L2,3:L5,...)
az/el:azimuth/elevationangle(deg)
resp:pseudorangeresidual(m)
resc:carrierphaseresidual(m)
vsat:validdataflag(0:invalid,1:valid)
snr:signalstrength(dbHz)
fix:ambiguityflag(0:nodata,1:float,2:fixed,3:hold)
slip:cycleslipflag(bit1:slip,bit2:parityunknown)
lock:carrierlockcount
outc:dataoutagecount
slipc:cycleslipcount
rejc:datareject(outlier)count
EXAMPLE
$POS,1557,432000.000,2,-3869295.9628,3436570.2567,3717367.6546,0.0000,0.0000,0.0000
$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
107
$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
108
B.4
Configuration File
DESCRIPTION
A configuration file containing processing options, solution options and file options for RTKNAVI,
RTKPOST,RTKRCVandRNX2RTKP.ThatisatextfilewhichcontainstheKeyword = Valueformrecords
indicatingthevariousoptions.Forenumerationvalues,theselectablevalueiseitherofanumber(0,1,2,...)
oranenumerationlabel(off,on,...).Thelinestartingwith #andthetextsafter #inalinearetreatedas
comments.Forthecontentsoftheconfigurationfile,refer3.5ConfigurePositioningOptionsforRTKNAVI
andRTKPOST.
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)
109
out-timendec
out-degform
out-fieldsep
out-height
out-geoid
out-solstatic
out-nmeaintv1
out-nmeaintv2
out-outstat
stats-eratio1
stats-eratio2
stats-errphase
stats-errphaseel
stats-errphasebl
stats-errdoppler
stats-stdbias
stats-stdiono
stats-stdtrop
stats-prnaccelh
stats-prnaccelv
stats-prnbias
stats-prniono
stats-prntrop
stats-clkstab
ant1-postype
ant1-pos1
ant1-pos2
ant1-pos3
ant1-anttype
ant1-antdele
ant1-antdeln
ant1-antdelu
ant2-postype
ant2-pos1
ant2-pos2
ant2-pos3
ant2-anttype
ant2-antdele
ant2-antdeln
ant2-antdelu
misc-timeinterp
misc-sbasatsel
misc-rnxopt1
misc-rnxopt2
file-satantfile
file-rcvantfile
file-staposfile
file-geoidfile
file-ionofile
file-dcbfile
file-eopfile
file-blqfile
file-tempdir
file-geexefile
file-solstatfile
file-tracefile
=3
=deg
# (0:deg,1:dms)
=
=geodetic
# (0:ellipsoidal,1:geodetic)
=internal
# (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
=all
# (0:all,1:single)
=1
# (s)
=1
# (s)
=off
# (0:off,1:state,2:residual)
=300
=300
=0.003
# (m)
=0.003
# (m)
=0
# (m/10km)
=1
# (Hz)
=30
# (m)
=0.03
# (m)
=0.3
# (m)
=10
# (m/s^2)
=10
# (m/s^2)
=0.0001
# (m)
=0.001
# (m)
=0.0001
# (m)
=5e-12
# (s/s)
=llh
# (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
=90
# (deg|m)
=0
# (deg|m)
=-6335367.6285 # (m|m)
=NOV702GG
=0
# (m)
=0
# (m)
=0
# (m)
=rtcm
# (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
=0
# (deg|m)
=0
# (deg|m)
=0
# (m|m)
=TRM29659.00
=0
# (m)
=0
# (m)
=0
# (m)
=off
# (0:off,1:on)
=0
# (0:all)
=
=
=Y:\madoca\data\igs08.atx
=Y:\madoca\data\igs08.atx
=
=
=
=Y:\madoca\data\dcb\P1P21201.DCB
=
=
=C:\Temp
=
=
=
inpstr1-type
=ntripcli
#
(0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr2-type
=off
#
inpstr3-type
=off
#
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
#
inpstr3-format
=rtcm3
#
110
inpstr2-nmeareq
inpstr2-nmealat
inpstr2-nmealon
outstr1-type
outstr2-type
outstr1-path
outstr2-path
outstr1-format
outstr2-format
logstr1-type
logstr2-type
logstr3-type
logstr1-path
logstr2-path
logstr3-path
misc-svrcycle
misc-timeout
misc-reconnect
misc-nmeacycle
misc-buffsize
misc-navmsgsel
misc-proxyaddr
misc-fswapmargin
=off
# (0:off,1:latlon,2:single)
=26.37293571 # (deg)
=127.143649075 # (deg)
=off
# (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
=off
=
=
=llh
=nmea
=off
=off
=off
=
=
=
=10
# (ms)
=30000
# (ms)
=10000
# (ms)
=5000
# (ms)
=32768
# (bytes)
=all
# (0:all,1:rover,2:base,3:corr)
=
=30
# (s)
111
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.ThefollowingtableshowstheformatoftheURLlistfileforGNSSdata.
No
Record/Field
URL
(1)
Datatype
(2)
URLaddress
(3)
Defaultlocal
directory
Description
AlinecontainsaURLforaGNSSdatatype,whichconsistsofthe
followingfieldsseparatedbyspaces.
GNSSdatatypeID.TheIDdoesnotcontainspaces.Underbar_
inthedatatypeIDmeanstheseparatorofeachdatatypecategory.
URLaddressoftheGNSSdatatype.TheURLaddressshallbe:
ftp://<host address>/<file path> or

http://<host address>/<file path>
ftp, http
:useddownloadprotocol
<host address>:addressofthehost
<file path>
:downloadfilepathinthehost.thefilepathcan
contain the following keywords replaced by date, time, station
nameandenvironmentvariable.
%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
If the local directory is not specified in RTKGET, the downloaded

files are saved in the directory. The directory path can contain
keywordassameasURLaddress.
112
Notes
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
IGS_EPH_GLO ftp://cddis.gsfc.nasa.gov/gps/products/%W/igl%W%D.sp3.Z
IGS_CLK ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W%D.clk.Z
IGS_CLK_30S ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W%D.clk_30s.Z
IGS_ERP ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%W7.erp.Z
IGR_EPH ftp://cddis.gsfc.nasa.gov/gps/products/%W/igr%W%D.sp3.Z
IGR_CLK ftp://cddis.gsfc.nasa.gov/gps/products/%W/igr%W%D.clk.Z
IGR_ERP ftp://cddis.gsfc.nasa.gov/gps/products/%W/igr%W%D.erp.Z
IGU_EPH ftp://cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%h.sp3.Z
IGU_ERP ftp://cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%h.erp.Z
IGS_POS ftp://cddis.gsfc.nasa.gov/gps/products/%W/igs%yP%W.snx.Z
IGS_TEC ftp://cddis.gsfc.nasa.gov/gps/products/ionex/%Y/%n/igsg%n0.%yi.Z
IGR_TEC ftp://cddis.gsfc.nasa.gov/gps/products/ionex/%Y/%n/igrg%n0.%yi.Z
...
113
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
c:\product\%W
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.hin<install dir>\rtklib_<ver>\src.
The detailed specifications and some examples of API usages will be also provided as RTKLIB API
ReferenceManual.
TableC1RTKLIBAPIfunctionList(*:addedinver.2.4.2, **:modifiedinver.2.4.2)
Function
satno()
satsys()
satid2no()
satno2id()
obs2code()
code2obs()
satexclude()
testsnr()
setcodepri()
getcodepri()
mat()
imat()
zeros()
eye()
dot()
norm()
cross3()
normv3()
matcpy()
matmul()
matinv()
solve()
lsq()
filter()
smoother()
matprint()
matfprint()
Description
Satellitenumber/systemfunctions
SatellitesystemandPRN/slotnumbertosatellitenumber
Satellitenumbertosatellitesystem
SatelliteIDtosatellitenumber
SatellitenumbertosatelliteID
Observationtypestringtoobservationcode
Observationcodetoobservationcodestring
Testexcludedsatellites
TestSNRmask
Setcodepriorityformultiplecodes
Getcodepriorityformultiplecodes
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
Matrixandvectorfunctions
Newmatrix
Newintegermatrix
Newzeromatrix
Newidentitymatrix
InnerProduct
Euclidnorm
Outerproductof3Dvectors
Normalize3Dvector
Copymatrix
Multiplymatrix
Inverseofmatrix
Solvelinearequation
Leastsquareestimation
Kalmanfilterstateupdate
Kalmansmoother
Printmatrix
Printmatrixtofile
Timeandstringfunctions
SourceProgram
114
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
**
**
*
*
*
*
Function
str2num()
str2time()
time2str()
epoch2time()
time2epoch()
gpst2time()
time2gpst()
gst2time()
time2gst()
bdt2time()
time2bdt()
time_str()
timeadd()
timediff()
gpst2utc()
utc2gpst()
gpst2bdt()
bdt2gpst()
timeget()
timeset()
time2doy()
utc2gmst()
adjgpsweek()
tickget()
sleepms()
reppath()
reppaths()
Description
Stringtonumber
Stringtotime
Timetostring
Calendarday/timetotime
Timetocalendarday/time
GPSweek/TOWtotime
TimetoGPSweek/TOW
GSTweek/TOWtotime
TimetoGSTweek/TOW
BDTweek/TOWtotime
TimetoBDTweek/TOW
GetTimeString
Addtime
Timedifference
GPSTimetoUTC
UTCtoGPSTime
GPSTimetoBDT
BDTtoGPSTime
GetcurrenttimeinUTC
SetcurrenttimeinUTC
TimetoDayofYear
UTCtoGreenwichMeanSiderealTime
AdjustGPSweeknumber
Getcurrentticktime
Sleepformilliseconds
Replacefilepath
Replacefilepaths
SourceProgram
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
*
*
*
*
Coordinatesfunctions
ecef2pos()
pos2ecef()
ecef2enu()
enu2ecef()
covenu()
covecef()
xyz2enu()
eci2ecef()
deg2dms()
dms2deg()
ECEFtogeodeticposition
GeodetictoECEFposition
ECEFtolocalcoordinates
LocaltoECEFcoordinates
Covarianceinlocalcoordinates
CovarianceinECEFcoordinates
ECEFtoENUlocalcoordinatetransformationmatrix
ECItoECEFtransformationmatrix
Convertdegreetodegminsec
Convertdegminsectodegree
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c **
rtkcmn.c
rtkcmn.c
Input/outputfunctions
readpos()
sortobs()
uniqnav()
screent()
readnav()
savenav()
freeobs()
freenav()
Readstationpositions
Sortobservationdata
Deleteduplicatedephemeridesinnavigationdata
Screendatabytimeandinterval
Readnavigationdatafromfile
Savenavigationdatatofile
Freememoryforobservationdata
Freememoryfornavigationdata
Debugtracefunctions
115
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
Function
traceopen()
traceclose()
trace()
tracet()
tracemat()
traceobs()
traceonav()
tracegnav()
tracehnav()
tracepeph()
tracepclk()
traceb()
Description
Opentracefile
Closetracefile
Outputtrace
Outputtracewithtimetag
Outputtraceasmatrixprinting
Outputtraceasobservationdataprinting
OutputtraceasGPSnavigationmessages
OutputtraceasGLONASSnavigationmessages
OutputtraceasGEOnavigationmessages
Outputtraceaspreciseephemeris
Outputtraceaspreciseclock
Outputtraceasbinarydump
SourceProgram
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
Platformdependentfunctions
execcmd()
expath()
createdir()
rtkcmn.c
rtkcmn.c
rtkcmn.c
Executecommand
Expandfilepath
Createdirectory
Positioningmodels
satwavelen()
satazel()
geodist()
dops()
csmooth()
Satellitesignalcarrierwavelength
Satelliteazimuth/elevationangle
Geometricdistance
ComputeDOPs
Carriersmoothing
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
Atmospheremodels
ionmodel()
ionmapf()
ionppp()
tropmodel()
tropmapf()
iontec()
readtec()
ionocorr()
tropcorr()
Ionosphericmodel
Ionosphericmappingfunction
Ionosphericpiercepointposition
Troposphericmodel
Troposphericmappingfunction
IonospheremodelbyTECgriddata
ReadIONEXTECgridfile
Ionospherecorrection
Tropospherecorrection
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
rtkcmn.c
ionex.c
ionex.c
pntpos.c
pntpos.c
Antennamodels
readpcv()
searchpcv()
antmodel()
antmodel_s()
Readantennaparameters
Searchantennaparameters
Receiverantennamodel
Satelliteantennamodel
rtkcmn.c
rtkcmn.c
rtkcmn.c **
rtkcmn.c
Earthtidesmodels
sunmoonpos()
tidedisp()
Sunandmoonposition
Displacementsbyearthtides
rtkcmn.c **
ppp.c
Geoidmodel
opengeoid()
closegeoid()
geoidh()
geoid.c
geoid.c
geoid.c
Openexternalgeoidfile
Closeexternalgeoidfile
Geoidheight
Datumtransformation
loaddatump()
Loaddatumtransformationparameter
116
datum.c
Function
tokyo2jgd()
jgd2tokyo()
Description
TokyodatumtoJGD2000datum
JGD2000datumtoTokyodatum
SourceProgram
datum.c
datum.c
RINEXfunctions
readrnx()
readrnxt()
readrnxc()
outrnxobsh()
outrnxobsb()
outrnxnavh()
outrnxgnavh()
outrnxhnavh()
outrnxlnavh()
outrnxqnavh()
outrnxcnavh()
outrnxnavb()
outrnxgnavb()
outrnxhnavb()
uncompress()
init_rnxctr()
free_rnxctr()
open_rnxctr()
input_rnxctr()
convrnx()
ReadRINEXfile
ReadRINEXfileintimerange/interval
ReadRINEXclockfile
OutputRINEXOBSheader
OutputRINEXOBSbody
OutputRINEXNAVheader
OutputRINEXGLONASSNAVheader
OutputRINEXGEONAVheader
OutputRINEXGalileoNAVheader
OutputRINEXQZSSNAVheader
OutputRINEXBeiDouNAVheader
OutputRINEXNAVbody
OutputRINEXGLONASSNAVbody
OutputRINEXGEONAVbody
Uncompressfile
InitializeRINEXcontrol
FreeRINEXcontrol
OpenRINEXcontrol
InputnextRINEXdatabyRINEXcontrol
RINEXconverter
rinex.c **
rinex.c **
rinex.c
rinex.c **
rinex.c
rinex.c
rinex.c
rinex.c
rinex.c
rinex.c
rinex.c *
rinex.c
rinex.c
rinex.c
rinex.c
rinex.c *
rinex.c *
rinex.c *
rinex.c *
convrnx.c
Ephemerisfunctions
eph2clk()
geph2clk()
seph2clk()
eph2pos()
geph2pos()
seph2pos()
peph2pos()
satantoff()
satpos()
satposs()
readsp3()
readsap()
readdcb()
alm2pos()
tle_read()
tle_name_read()
tle_pos()
Broadcastephemeristosatelliteclockbias
GLONASSephemeristosatelliteclockbias
GEOephemeristosatelliteclockbias
Broadcastephemeristosatelliteposition/clockbias
GLONASSephemeristosatelliteposition/clockbias
GEOephemeristosatelliteposition/clockbias
Preciseephemeristosatelliteposition/clockbias
Satelliteantennaphasecenteroffset
Satelliteposition/clockbias
Satellitepositions/clockbiases
ReadSP3file
Readsatelliteantennaphasecenterparameters
ReadDCBparameters
Almanactosatelliteposition/clockbias
ReadTLEdatafile
ReadTLEsatellitenamefile
SatellitepositionandvelocitywithTLEdata
ephemeris.c
ephemeris.c
ephemeris.c
ephemeris.c
ephemeris.c
ephemeris.c
preceph.c
ephemeris.c
ephemeris.c
ephemeris.c
preceph.c **
preceph.c
preceph.c
preceph.c
tle.c *
tle.c *
tle.c *
Receiverrawdatafunctions
getbitu()
getbits()
setbitu()
setbits()
crc32()
crc24q()
rtkcmn.c
rtkcmn.c
rtkcmn.c *
rtkcmn.c *
rtkcmn.c
rtkcmn.c
Extractunsignedbits
Extractsignedbits
Setunsignedbits
Setsignedbits
CRC32parity
CRC24Qparity
117
Function
crc16()
decode_word()
decode_frame()
init_raw()
free_raw()
input_raw()
input_rawf()
Description
CRC16parity
Decodenavigationdataword
Decodenavigationdataframe
Initializereceiverrawdatacontrol
Freereceiverrawdatacontrol
Inputreceiverrawdatafromstream
Inputreceiverrawdatafromfile
SourceProgram
rtkcmn.c *
rcvraw.c
rcvraw.c
rcvraw.c
rcvraw.c
rcvraw.c
rcvraw.c
Receiverdependentfunctions
input_oem4()
input_oem3()
input_ubx()
input_ss2()
input_cres()
input_stq()
input_gw10()
input_javad()
input_nvs()
input_binex()
input_oem3f()
input_oem4f()
input_ubxf()
input_ss2f()
input_cresf()
input_stqf()
input_gw10f()
input_javadf()
input_nvsf()
input_binexf()
gen_ubx()
gen_stq()
gen_nvs()
InputOEM4/Vrawdatafromstream
InputOEM3rawdatafromstream
Inputubloxrawdatafromstream
InputSuperstarIIrawdatafromstream
InputCrescentrawdatafromstream
InputSkyTraqrawdatafromstream
InputFurunoGW10II/IIIrawdatafromstream
InputJAVADGRIL/GREISrawdatafromstream
InputNVSBINRrawdatafromstream
InputBINEXdatafromstream
InputOEM3rawdatafromfile
InputOEM4/Vrawdatafromfile
Inputubloxrawdatafromfile
InputSuperstarIIrawdatafromfile
InputCrescentrawdatafromfile
InputSkyTraqrawdatafromfile
InputFurunoGW10II/IIIrawdatafromfile
InputJAVADGRIL/GREISrawdatafromfile
InputNVSBINRrawdatafromfile
InputBINEXdatafromfile
Generateubloxbinarycommand
GenerateSkyTraqbinarycommand
GenerateNVSBINRbinarycommand
rcv/novatel.c
rcv/novatel.c
rcv/ublox.c
rcv/ss2.c
rcv/crescent.c
rcv/skytraq.c
rcv/gw10.c
rcv/javad.c
rcv/nvs.c *
rcv/binex.c *
rcv/novatel.c
rcv/novatel.c
rcv/ublox.c
rcv/ss2.c
rcv/crescent.c
rcv/skytraq.c
rcv/gw10.c
rcv/javad.c
rcv/nvs.c *
rcv/binex.c *
rcv/ublox.c
rcv/skytraq.c
rcv/nvs.c *
RTCMfunctions
init_rtcm()
free_rtcm()
input_rtcm2()
input_rtcm3()
input_rtcm2f()
input_rtcm3f()
gen_rtcm2()
gen_rtcm3()
InitializeRTCMcontrol
FreeRTCMcontrol
InputRTCM2messagefromstream
InputRTCM3messagefromstream
InputRTCM2messagefromfile
InputRTCM3messagefromfile
GenerateRTCM2message
GenerateRTCM3message
rtcm.c
rtcm.c
rtcm.c
rtcm.c
rtcm.c
rtcm.c
rtcm.c *
rtcm.c *
Solutionfunctions
initsolbuf()
freesolbuf()
freesolstatbuf()
getsol()
addsol()
readsol()
readsolt()
readsolstat()
Initializesolutionbuffer
Freesolutionbuffer
Freesolutionstatusbuffer
Getsolutiondatafromsolutionbuffer
Addsolutiondatatosolutionbuffer
Readsolutiondatafromsolutionsfiles
Readsolutiondataintimerange/interval
Readsolutionstatusfromfile
118
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
Function
readsolstatt()
inputsol()
outprcopts()
outsolheads()
outsols()
outsolexs()
outprcopt()
outsolhead()
outsol()
outsolex()
outnmea_rmc()
outnmea_gga()
outnmea_gsa()
outnmea_gsv()
Description
Readsolutionstatusintimerange/interval
Inputsolutiondatafromstream
Outputprocessingoptionstostring
Outputsolutionheadertostring
Outputsolutionbodytostring
Outputextendedsolutiontostring
Outputprocessingoptionstofile
Outputsolutionheadertofile
Outputsolutionbodytofile
Outputextendedsolutiontofile
OutputNMEAGPRMCsentence
OutputNMEAGPGGAsentence
OutputNMEAGPGSA,GLGSA,GAGSAsentences
OutputNMEAGPGSV,GLGSV,GAGSVsentences
SourceProgram
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
solution.c
ConvertsolutionstoGoogleEarthKMLfile
convkml()
ConvertsolutionstoGoogleEarthKMLfile
convkml.c
SBASfunctions
sbsreadmsg()
sbsreadsmgt()
sbsoutmsg()
sbsdecodemsg()
sbsupdatecorr()
sbssatcorr()
sbsioncorr()
sbstropcorr()
ReadSBASmessagefile
ReadSBASmessagefileintimerange
OutputSBASmessages
DecodeSBASmessage
UpdateSBAScorrections
SBASsatellitecorrection
SBASionosphericcorrection
SBAStroposphericcorrection
sbas.c
sbas.c
sbas.c
sbas.c
sbas.c
sbas.c
sbas.c
sbas.c
Optionsfunctions
searchopt()
str2opt()
opt2str()
opt2buf()
loadopts()
saveopts()
resetsysopts()
getsysopts()
setsysopts()
Searchoption
Stringtooptionvalue
Optionvaluetostring
Optiontostring
Loadoptionsfromfile
Saveoptionstofile
Resetsystemoptionstodefault
Getsystemoptions
Setsystemoptions
options.c
options.c
options.c
options.c
options.c
options.c
options.c
options.c
options.c
Streamdatainput/outputfunctions
strinitcom()
strinit()
strlock()
strunlock()
stropen()
strclose()
strread()
strwrite()
strsync()
strstat()
strsum()
strsetopt()
Initializestreamcommunicationenvironment
Initializestream
Lockstream
Unlockstream
Openstream
Closestream
Readstream
Writestream
Timesyncstream
Getstreamstatus
Getstreamstatisticssummary
Setstreamoptions
119
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
Function
strgettime()
strsendnmea()
strsendcmd()
strsettimeout()
strsetdir()
strsetproxy()
Description
Getcurrenttimefromstream
SendNMEAmessagetostream
Sendreceivercommandtostream
Setstreamtimeoutparameters
Setlocaldirectory
Setproxyaddress
SourceProgram
stream.c
stream.c
stream.c
stream.c
stream.c
stream.c
Integerambiguityresolution
lambda()
LAMBDA/MLAMBDAintegerleastsquareestimation
lambda.c
Standardpositioning
pntpos()
pntpos.c
Standardpositioning
Precisepositioning
rtkinit()
rtkfree()
rtkpos()
rtkopenstat()
rtkclosestat()
InitializeRTKcontrolstruct
FreeRTKcontrolstruct
Precisepositioning
Opensolutionstatusfile
Closesolutionstatusfile
rtkpos.c
rtkpos.c
rtkpos.c
rtkpos.c
rtkpos.c
Precisepointpositioning
pppos()
pppnx()
pppoutsolstat()
windupcorr()
pppamb()
Precisepointpositioning(PPP)
NumberofestimatedstatesforPPP
OutputsolutionstatisticsforPPP
Phasewindupcorrection
ResolveintegerambiguityforPPP
ppp.c *
ppp.c *
ppp.c *
rtkcmn.c *
ppp_ar.c *
Postprocessingpositioning
postpos()
Postprocessingpositioning
postpos.c
Streamserverfunctions
strsvrinit()
strsvrstart()
strsvrstop()
strsvrstat()
strconvnew()
strconvfree()
Initializestreamserver
Startstreamserver
Stopstreamserver
Getstreamserverstatus
Generatestreamconverter
Freestreamconverter
streamsvr.c
streamsvr.c **
streamsvr.c
streamsvr.c
streamsvr.c *
streamsvr.c *
RTKserverfunctions
rtksvrinit()
rtksvrstart()
rtksvrstop()
rtksvropenstr()
rtksvrclosestr()
rtksvrlock()
rtksvrunlock()
rtksvrostat()
rtksvrsstat()
InitializeRTKserver
StartRTKserver
StopRTKserver
Openoutput/logstream
Closeoutput/logstream
LockRTKserver
UnlockRTKserver
GetRTKobservationdatastatus
GetRTKstreamstatus
rtksvr.c
rtksvr.c
rtksvr.c
rtksvr.c
rtksvr.c
rtksvr.c
rtksvr.c
rtksvr.c
rtksvr.c
Downloaderfunctions
dl_readurls()
dl_readstas()
ReadURLaddresslistfileofGNSSdata
Readstationlistfilefordownload
120
download.c *
download.c *
Function
dl_exec()
dl_test()
Description
ExecutedownloadofGNSSdata
ExecutelocalfiletestofGNSSdata
SourceProgram
download.c *
download.c *
QZSSLEXfunctions
lexupdatecorr()
lexreadmsg()
lexoutmsg()
lexconvbin()
lexeph2pos()
lexioncorr()
UpdateLEXcorrections
ReadLEXmessagelogfile
OutputLEXmessagelog
ConvertLEXbinarytoLEXmessagelog
LEXsatelliteephemerisandclockcorrection
LEXionospherecorrection
121
qzslex.c
qzslex.c
qzslex.c
qzslex.c
qzslex.c
qzslex.c
*
*
*
*
*
*
Appendix D Files and Messages

D.1
Supported RINEX Files
SupportedRINEXversionsandfilesbyRTKLIBareshowninthefollowingtable.
ObservationData
NavigationMessages
RINEX
Version
Met.
CLK
GEO
BRDC
2.10
O*
O*
O*
N*
N*
2.11
O*
O*
N*
N*
2.12
O*
N*
3.00
O*
O*
N*
N*
C**
3.01
O*
N*
N*
C**
3.02
C**
G:GPS,R:GLONASS,E:Galileo,J:QZSS,C:BeiDou,S:SBAS
-: notsupported, O,N,G,H:supportedasRINEXfiletype
*RTKLIBextensions(QZSSextensionsarebasedonJAXA[60][61]),**readonly,
122
D.2
Supported Receiver Messages
Supported RTCM 2, RTCM 3, BINEX and receivers proprietary messages by RTKLIB are shown in the
followingtable.
DataMessageTypes
Format
RTCM2
[16]
RTCM3
[17][18]
BINEX
[19]
**
NovAtel
OEM4/V/6
[41][42]
NovAtel
OEM3
[43]
ublox
LEA4T/5T/
6T[44]
NovAtel
SuperstarII
[45]
Hemisphere
Crescent,
Eclipse
[46][47]
SkyTraq
S1315F
[48][49]
Furuno
GW10II/III
[50]
RawObservation
Data
Satellite
Ephemerides
ION/UTC
Parameters
Antenna
Info
SBAS
Messages
Others
18,19
17
3,22
1*,9*,
14,16
see below
see below
see
below
see below
IONUTCB,
QZSSIONUTCB,
GALIONOB,
GALCLOCKB
RAWWAASFRAMEB,
RAWSBASFRAMEB,
QZSSRAWSUBFRAMEB
0x7f-05
(Trimble NetR8)
RANGEB,
RANGECMPB
RGEB,
RGED
REPB
IONB,
UTCB
FRMB
UBX
RXM-RAW
UBX
RXM-SFRB
UBX
RXM-SFRB
UBX
RXM-SFRB
ID#23
ID#22
ID#67
ID#20,
ID#21
bin 96,
bin 76
bin 95
bin 94
bin 80
msg 0xDD
(221)
msg 0xE0
(224)
msg 0xE0
(224)
msg 0xDC
(220)
msg 0x08
msg 0x27
msg 0x27
msg 0x27
msg 0x20
[GE],[NE],
[EN],[WE],
[QE]
[UO],[NU],
[EU],[WU],
[QU],[IO]
[WD]
[~~],[::],
[RD],[ST],
[NN]
[RC],[rc],[CR],
[cr],[PC],[pc],
[CP],[cp],[DC],
JAVAD
[cd],[EC],[CE],
GRIL/GRIES [FC],[R1],[r1],
[1R],[1r],[P1],
[51][52][53][54]
[p1],[1P],[1p],
[D1],[1d],[E1],
[1E],[F1],[R2],
0x01-01,
0x01-02,
0x01-03,
0x01-04,
0x01-06
RAWEPHEMB,
GLOEPHEMERISB,
QZSSRAWEPHEMB,
GALEPHEMERISB
123
DataMessageTypes
Format
RawObservation
Data
[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]
Satellite
Ephemerides
ION/UTC
Parameters
Antenna
Info
SBAS
Messages
Others
msg F5h
msg F7h
msg 4Ah,
msg 4Bh
NVS
NV08C
[55][56]
*Onlysupporttoread,DGPScorrectionisnotsupported
**Onlybigendian,forwardandregularCRCmessages
SupportedRTCM3MessageTypes
------------------------------------------------------------------------------
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*
1046*
1044*
-
MSM 1
2
3
4
5
6
7
1071~
1072~
1073~
1074
1075
1076
1077
1081~
1082~
1083~
1084
1085
1086
1087
1091~
1092~
1093~
1094
1095
1096
1097
1111*~
1112*~
1113*~
1114*
1115*
1116*
1117*
1121*~
1122*~
1123*~
1124*
1125*
1126*
1127*
1101*~
1102*~
1103*~
1104*
1105*
1106*
1107*
SSR Orbit Corr.

Clock Corr.
Code Bias
Combined
URA
HR-Clock
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1240*
1241*
1242*
1243*
1244*
1245*
1246*
1247*
1248*
1249*
1250*
1251*
Antenna Info
1005 1006 1007 1008 1033
-----------------------------------------------------------------------------* draft, ~ only encode
124
D.3
Supported Signal IDs/Observation Types
SupportedsignalIDs/observationtypesbyRTKLIBareshowninthefollowingtable.Thetablealsoindicate
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,RTCM2andBINEXtoRTCM3conversionbySTRSVRandSTR2STR,thetableisusedaswell.
System
Freq.
L1
GPS
L2
L5
G1
GLONASS
G2
G3
Galileo
E1
E5a
ChannelorCode
C/A
L1C(D)
L1C(P)
L1C(D+P)
P
Ztrackingand
similar(ASon)
Y
M
codeless
C/A
L1(C/A)+(P2P1)
(semicodeless)
L2C(M)
L2C(L)
L2C(M+L)
P
Ztrackingand
similar(ASon)
Y
M
codeless
I
Q
I+Q
C/A
P
C/A
P
I
Q
I+Q
APRS
BI/NAVOS/CS/SoL
C
B+C
A+B+C
IF/NAVOS
Signal
ID
1C
1S
1L
1X
1P
RINEX2
*1
C1/CA*
CB*
-
RINEX3
*2
1C
1S
1L
1X
1P
RTCM3
*3
2
30
31
32
3
BINEX
*4
0,1
6
2
1W
P1/C1*
1W
1Y
1M
1N
2C
1Y
1M
1N
2C
5
6
8
4
5
7
11
2D
2D
12
2S
2L
2X
2P
C2/CC*
-
2S
2L
2X
2P
15
16
17
9
13
14
15
16
2W
P2
2W
10
10,17
2Y
2M
2N
5I
5Q
5X
1C
1P
2C
2P
3I
3Q
3X
1A
1B
1C
1X
1Z
5I
C5
C1/CA*
P1/C1*
C2/CD*
P2
C1
-
2Y
2M
2N
5I
5Q
5X
1C
1P
2C
2P
3I
3Q
3X
1A
1B
1C
1X
1Z
5I
11
12
22
23
24
2
3
8
9
11
12
13
3
4
2
5
6
22
18
19
20
24
25
23,26
0,1
2
10,11
12
14
15
13,16
1
2
0,3
4
5
7
125
System
QZSS
BeiDou
SBAS
Freq.
ChannelorCode
Signal
ID
5Q
5X
7I
7Q
7X
8I
8Q
8X
6A
6B
6C
6X
6Z
1C
1S
1L
1X
1Z
2S
2L
2X
5I
5Q
5X
6S
6L
6X
2I
2Q
2X
7I
7Q
7X
6I
6Q
6X
1C
5I
5Q
5X
RINEX2
*1
C5
C7
C8
C6
C1/CA*
CB*
C2/CC*
C6
C2
C7
C6
C1/CA*
C5
RINEX3
*2
5Q
5X
7I
7Q
7X
8I
8Q
8X
6A
6B
6C
6X
6Z
1C
1S
1L
1X
1Z
2S
2L
2X
5I
5Q
5X
6S
6L
6X
2I
2Q
2X
7I
7Q
7X
6I
6Q
6X
1C
5I
5Q
5X
RTCM3
*3
23
24
14
15
16
18
19
20
9
10
8
11
12
2
30
31
32
6
15
16
17
22
23
24
9
10
11
2
3
4
14
15
16
8
9
10
2
22
23
24
Qnodata
I+Q
II/NAVOS/CS/SoL
E5b
Qnodata
I+Q
I
E5a+E5b Q
I+Q
APRS
BC/NAVCS
E6
Cnodata
B+C
A+B+C
C/A
L1C(D)
L1
L1C(P)
L1C(D+P)
L1SAIF
L2C(M)
L2
L2C(L)
L2C(M+L)
I
L5
Q
I+Q
S
LEX
L
S+L
I
Q
B1
I+Q
I
B2
Q
I+Q
I
B3
Q
I+Q
L1
C/A
I
L5
Q
I+Q
*1pseudorangeOBSTYPE[9][10][11][12][13][14],*2[12][13][14],*3RTCMMSMsignalID[18],
*4BINEXobservationcodeIDformessage0x7f05[19],*RINEX2.12
126
BINEX
*4
8
6,9
11
12
10,13
15
16
14,17
19
20
21
18,22
23
0,1
2
3
4
30
8
9
7,10
14
15
13,16
20
21
19,22
1
2
0,3
5
6
4,7
9
10
8,11
0,1
7
8
6,9
D.4
Default Priorities of Multiple Signals
Ifinputobservationdatacontainmultiplesignalsinafrequency,RTKLIBselectsasignalforprocessingby
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() orgetcodepri().
System
Freq.
SignalPriority(1:highest>10:lowest) *
1
L1
1C
1P
1Y
1W
1M
1N
1S
1L
L2
2P
2Y
2W
2C
2M
2N
2D
2S
L5
5I
5Q
5X
G1
1P
1C
GLONASS G2
2P
2C
G3
3I
3Q
3X
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
L1
1C
1S
1L
1X
1Z
L2
2S
2L
2X
L5
5I
5Q
5X
LEX
6S
6L
6X
B1
2I
2Q
2X
B2
7I
7Q
7X
B3
6I
6Q
6X
L1
1C
L5
5I
5Q
5X
GPS
Galileo
QZSS
BeiDou
SBAS
*ReferAppendixD.3forsignalIDs,
127
10
2L
2X
D.5
Receiver Dependent Input Options
Format
RTCM2
RTCM3
BINEX
NovAtelOEM4/V/6
NovAtelOEM3
Option
Description
-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...) * **
-EPHALL
-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...) * **
-EPHALL
-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) *
-EPHALL
ubloxLEA4T/5T/6T -INVCP
-TADJ=tint
Invert polarity of carrier-phase

Adjust time tags to multiples of tint (sec)
NovAtelSuperstarII
Hemisphere
Crescent/Eclipse
SkyTraqS1315F
-EPHALL
-INVCP
Invert polarity of carrier-phase
FurunoGW10II/III
-EPHALL
-EPHALL
-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
-RL2C
-JL1Z
Select 1Z for QZS L1 (default 1C) *
-JL1X
Select 1X for QZS L1 (default 1C) *
JAVADGRIL/GRIES
NVSNV08CBINR
-NOET
Discard epoch time message ET (::)
-EPHALL
-TADJ=tint
Adjust time tags to multiples of tint (sec)
*ReferAppendixD.3forsignalIDs,**ReferAppendixD.4fordefaultsignalpriority
128
Appendix E Models and Algorithms
This appendixbriefly describes the modelsand algorithms involved inRTKLIB. The common acronyms
usedformodelsorequationsintheappendixareshownasfollows.
:speedoflight(m/s)
Prs,i
: Li pseudorangemeasurementofsignal(m)
Drs,i
: Li Dopplerfrequencymeasurementofsignal(Hz)
rs,i
: Li carrierphasemeasurementofsignal(cycle)
rs,i
: Li phaserangemeasurementofsignal(m)
tr
:navigationsignalreceptiontimeatreceiver(s)
:navigationsignaltransmissiontimeatsatellite(s)
rs
:geometricrangebetweensatelliteandreceiverantennas(m)
rrs
:rangeratebetweensatelliteandreceiverantennas(m/s)
r s (t )
:satellitepositionattime t inECEF(m)
v s (t )
:satellitevelocityattime t inECEF(m)
rr (t )
:receiverantennapositionattime t inECEF(m)
vr (t )
:receiverantennavelocityattime t inECEF(m/s)
ers
:LOSvectorfromreceiverantennatosatelliteinECEF
e rs, enu
:LOSvectorfromreceiverantennatosatelliteinlocalcoordinates
Er
:coordinatesrotationmatrixfromECEFtolocalcoordinatesatreceiverantennaposition
E s
:coordinatesrotationmatrixfromECEFtosatellitebodyfixedcoordinates
:latitudeofreceiverantennaposition(rad)
:longitudeofreceiverantennaposition(rad)
Azrs
:azimuthangleofsatellitedirection(rad)
Elrs
:elevationangleofsatellitedirection(rad)
dtr (t )
:receiverclockbiasattime t (s)
dtr (t )
:receiverclockdriftattime t (s/s)
dT s (t )
:satelliteclockbiasattime t (s)
dT s (t )
:satelliteclockdriftattime t (s/s)
Trs
:troposphericdelay(m)
s
r ,i
: Li ionosphericdelay(m)
fi
: Li carrierfrequency(Hz)
: Li carrierwavelength(m)
Brs,i
: Li carrierphasebias(cycle)
129
N rs,i
: Li carrierphaseintegerambiguity(cycle)
:measurementerrorsofpseudorange(m)
:measurementerrorsofcarrierphase(cycle)
:measurementerrorsofphaserange(m)
:earthrotationanglevelocity(rad/s)
dr , pco,i
: Li receiverantennaphasecenteroffsetinlocalcoordinates(m)
s
d pco
,i
: Li satelliteantennaphasecenteroffsetinsatellitebodyfixedcoordinates(m)
dr , pcv,i ( El ) : Li receiverantennaphasecentervariation(m)
s
d pcv
, i ( ) : Li satelliteantennaphasecentervariation(m)
:offnadirangleofreceiverantennadirectionfromsatellite(rad)
dr ,disp
:displacementbyearthtidesatreceiverpositioninlocalcoordinates(m)
pw
:phasewindupeffect(cycle)
s
dTrel
:relativitycorrectionforsatelliteclock(s)
U (t )
:ECItoECEFcoordinatestransformationmatrixattime t
Rx ( )
:coordinatesrotationmatrixaroundxaxisbyangle
Ry ( )
:coordinatesrotationmatrixaroundyaxisbyangle
Rz ( )
:coordinatesrotationmatrixaroundzaxisbyangle
() jk :SD(singledifference)betweensatellite j and k
() rb
:SD(singledifference)betweenreceiver r and b
ZT ,r :troposphericzenithtotaldelay(m)
ZH ,r
:troposphericzenithhydrostaticdelay(m)
GE,r :eastcomponentoftroposphericgradient
GN ,r
s
H ,r
mWs , r
s
I ,r
:northcomponentoftroposphericgradient
:mappingfunctionforhydrostatictroposphericdelay
:mappingfunctionforwettroposphericdelay
:mappingfunctionforionosphericdelay
130
E.1
Time System
RTKLIBinternallyusesGPST(GPSTime)forGNSSdatahandlingandpositioningalgorithms.Thetimeof
inputdataexpressedinothertimesystemslikeUTC(UniversalTimeCoordinated)isconvertedtoGPST
before internal processing or the GPST of the internal data is converted to the appropriate other time
systembeforeoutput.OneofthereasonswhyusingGPSTistoavoidleapsecondshandling.UTC,whichis
the most generally used time system, is not a continuous time system with a second jump by the leap
secondinsertionordeletion.
The GPSTis often expressedas a GPS week number andTOW (time ofweek) in secondssince the start
epochof00:00:00UTConJanuary6,1980.RTKLIB,however,doesnotusesuchaconvention.InGNSSdata
processing,weoftenneedtoconvertatimetoarangeorarangetoatime.TheTOWevenexpressedasa
doubleprecisionhasonlytheresolutionof 1.3 1010 sintime,whichisequivalenttotheresolutionof0.04
minrange.So,instead,RTKLIBexpressestimeasthetypegtime_tdefinedas:
typedef struct {
time_t time; /* time (s) expressed by standard time_t */
double sec;
/* fraction of second under 1 s */
} gtime_t;
wherethetime_tisthestandardtimetypeprovidedbythestandardClibrary.Theinternalrepresentation
ofthetime_t dependsuponthecomputersystem.Itisoftenimplementedbyanunsigned32bitintegeras
thenumberoftotalsecondssince00:00:00onJanuary1,1970.Duetothebitlengthlimitationtheinteger,
thegtime_tcannothandlethetimebeforeJanuary1,1970orafterJanuary19,2038inthiscase.
The secofthe gtime_tholdsthefractionalsecond.The sechastheresolutionof 6.7 108 minrange

adequateforGNSSprecisepositioncomputation.RTKLIBalsoprovidesseveralusefulAPIstohandlethe
gtime_tincludingadding,difference,conversionto/fromtheGPSweeknumberandTOW.
(1) GPSTandUTC(UniversalTimeCoordinated)
The rough conversion of GPST to UTC (Universal Time Coordinated) or UTC to GPST can be
expressedsimplyas:
tUTC tGPS t LS
(E.1.1)
tGPST tUTC t LS
(E.1.2)
131
where tUTC and tGPST arethetimeexpressedinUTC(s)andthetimeinGPST(s). t LS isthedelta

time(s)betweenUTCandGPSTduetothecumulativeleapsecondssinceJanuary6,1980.Thevalues
of t LS areshowninTableE.11untilMarch2013.
TableE.11GPSTUTCValues(untilMarch2013)
TimeSince(inUTC) t 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
accuratelyas:
tUTC tGPS t LS A0 A1 (t E tot 604800(WN WNt ))
(E.1.3)
where A0 , A1 , t E , tot , WN are WN t 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
differenceisusuallyseveralnslevel.
(2) GLONASST(GLONASSTime)
GLONASST(GLONASSTime)isbasedonUTC(SU)andincludesleapsecondinsertionordeletion.
GLONASSTisalsoalignedtothelocaltime.So,roughly,thetime tGLONASST (s)inGLONASSTcanbe
convertedtothetime tUTC (s)inUTC.
tUTC tGLONASST 10800
132
(E.1.4)
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
differencebetweenGPSTandGLONASSTisusually100orseveral100nslevel.
(3) GST(GalileoSystemTime)
GST(GalileoSystemTime)iscomposedofweeknumberfromtheoriginoftheGalileotimeandthe
TOW(timeofweek)inseconds.TheGSTstartepochis00:00:00UTConAugust22,1999.Atthestart
epoch, GST shall be ahead of UTC by 13 seconds. The GST is continuous time without leap second
insertionordeletion.So,theGSTisalignedtoGPSTexceptforthe1024weeksdifferenceofthetime
systemoriginandasmalltimeoffset(GGTO).NotethattheGalileoweeknumberisprovidedasequal
totheGPSweeknumberintheRINEXconvention.
(4) QZSST(QZSSTime)
QZSST (QZSS Time) is aligned to GPST. It has the same origin as GPST and the same definition of
onesecondofGPST.Practically,QZSSTcanbehandledassameasGPST.
(5) BDT(BeiDouNavigationSatelliteSystemTime)
BDT (BeiDou Navigation Satellite System Time) is a continuous time system without leap second
insertionordeletion.ThestartepochofBDTis00:00:00UTConJanuary1,2006.TheoffsetofBDTwith
respect to UTC is controlled within 100 ns (modulo 1 second). So, the time tGPS (s) in GPST can
roughlybeconvertedtothetime t BDT (s)inBDTwithintheaccuracyof200nsas:
t BDT tGPST 14
(E.1.5)
Moreaccurately,theUTCparametersforBDTinBeiDounavigationmessagesshouldbeusedsimilar
totheGPSTandUTCconversion.
133
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
dependsonthesatelliteephemerisandthepredefinedbasestationposition.Forexample,withGPSsignals
andnavigationdata,thesinglepointpositioningresultsareobtainedinWGS84.Thebaselineanalysiswith
thebasestationwiththepositioninanECEFframebasicallybringstheroverpositioninthesameECEF
frame.Practically,allofusuallyusedECEFframesinGNSSnavigationprocessinglikeWGS84,PZ90.02
andITRF,areidenticalwithintheaccuracyofbroadcastephemerisorsinglepointpositioning.However,
morestrictandcarefulhandlingofthecoordinatessystemisneededforthebaselineanalysisorPPP.The
unifiedcoordinatessystemisdesirabletominimizetheprocessingerrorinthesecases.
(1) TransformationfromgeodeticpositiontoECEFXYZposition
ThegeodeticpositionaredefinedbasedonareferenceellipsoidshowninFigureE.21.Thegeodetic
latitude r ,longitude r andtheellipsoidalheight h canbetransformedtotheECEFXYZposition
rr ( x, y, z )T asfollows:
e2 f (2 f )
a
v
2
1 e sin r 2
(E.2.1)
(E.2.2)
(v h)cos r cos r
rr (v h) cos r sin r
2
v(1 e )sin r
(E.2.3)
where:
a :majorradiusoftheearthreferenceellipsoid(m)
f :flatteningoftheearthreferenceellipsoid
Current version RTKLIB always uses the following values for a and f of the reference ellipsoid
providedbytheWGS84datum.
a 6378137.0 (m)
f 1.0/298.257223563
134
Reference
Ellipsoid
rr ( x, y , z )T
a (1 e 2 )
'
x,yplane
' :GeocentricLatitude :Longitude

:GeodeticLatitude
h :EllipsoidalHeight
FigureE.21ReferenceEllipsoid
(2) TransformationfromECEFXYZpositiontogeodeticposition
TotransformtheXYZposition rr ( x, y, z )T inECEFtothegeodeticposition,thefollowingprocedure
isapplied.Thegeodeticlatitudeisderivedbyaniterativemethodintheprocedure.
r x2 y 2
(E.2.4)
r ,0 0
(E.2.5)
(E.2.6)
(E.2.7)
(E.2.8)
(E.2.9)
2
2
r 1 (1 e ) tan r ,i
r ,i 1 arctan
z
r
r lim r ,i
i
ae 2 tan r ,i
ATAN 2( y, x)
r
a
h
cos r
(1 e 2 )sin 2 r
(3) TransformationbetweenlocalcoordinatesandECEF
Thelocalcoordinatesatthereceiverposition,whichisalsocalledasENUcoordinates,isoftenusedin
GNSSnavigationprocessing.Therotationmatrix Er oftheECEFcoordinatestothelocalcoordinates
areexpressedas:
sin r
E r sin r cos r
cos cos
r
r
cos r
sin r sin r
cos r sin r
cos r
sin r
135
(E.2.10)
where r and r arethegeodeticlatitudeandthelongitudeofthereceiverposition.Byusingthe Er

andthereceiverposition rr intheECEFcoordinates,theposition rECEF intheECEFcoordinatescan
betransformedtotheposition rlocal inthelocalcoordinatesas:
rlocal E r (rECEF rr )
(E.2.11)
(4) Geoidmodels
Toobtainthegeodeticheightderivedfromtheellipsoidalheight,weshouldconsiderthegeoidheight.
Thegeodeticheight hgeod (m)isexpressedas:
hgeo d h geod (r , r )
(E.2.12)
where geoid (r , r ) isthegeoidheight(m)atthelatitude r andthelongitude r .RTKLIBsupports

the following geoid models selectable by the processing option Geoid Model. All of these geoid
models are provided as the geoid heights at the latitude and longitude grid points. RTKLIB uses
bilinear interpolation to obtain the value for an appropriate latitude and longitude position. To use
thesegeoidmodelexceptfortheinternalmodel,thegeoidmodeldatafileshouldbedownloadedand
thefilepathshouldbesetastheprocessingoptionGeoidDataFile.
(a)Internal
:1degx1deggridgeoidderivedfromEGM96
(b)EGM96
:15x15gridEGM96geoidmodel
(c)EGM2008
:2.5x2.5gridor1x1gridEGM2008geoidmodel
(d)GSI2000
:1x1.5gridGSI2000geoidmodel(onlysurroundingofJapaneseisland)
136
E.3
GNSS Signal Measurement Models
(1) GNSSSignalStructure
Figure E.31 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
specificationsoftheseGNSSsignalsprovidedbyGPS,GLONASS,Galileo,QZSS,BeiDouandSBAS
arefoundinAppendixF.
Carrier
sin( 2ft )
+1
Code
C (t )
+1
Data
D(t )
Signal
2 PC (t ) D(t )sin(2 ft )
FigureE.31GNSSSignalStructure
(2) Pseudorangemeasurementmodel
The pseudorange is defined as the distance from the receiver antenna to the satellite antenna
includingreceiverandsatelliteclockoffsets(andotherbiases,suchasatmosphericdelays)[9].The Li
pseudorange Prs,i canbeexpressedbyusingthesignalreceptiontime tr (s)measuredbythereceiver
clockandthesignaltransmissiontime t s (s)measuredbythesatelliteclockas:
Prs,i c( tr t s )
(E.3.1)
Theequationcanbewrittenbyusingthegeometricrange rs betweensatelliteandreceiverantennas,
thereceiverandsatelliteclockbiases dtr dT s ,theionosphericandtroposphericdelay I rs, i , Trs andthe
measurementerror P as:[64]
137
Prs,i c((tr dtr (tr )) (t s dT s (t s ))) P

c(tr t s ) c(dtr (tr ) dT s (t s )) P
( rs I rs,i Trs ) c(dtr (tr ) dT s (t s )) P
(E.3.2)
rs c(dtr (tr ) dT s (t s )) I rs, i Trs P
t s tr
AtSatellite
Time by Satellite Clock (s)
tr
At Receiver
Time by Receiver Clock (s)
FigureE.32PseudorangeModel
(3) Carrierphaseandphaserangemeasurementmodel
The carrierphase is ... actually being a measurement on the beat frequency between the received
carrier of the satellite signal and a receivergenerated reference frequency [9]. The Li carrierphase
rs,i canbeexpressedas:
rs,i r ,i (tr ) s i (t s ) N rs,i

( f i (tr dtr (tr ) t0 ) r ,0,i ) ( fi (t s dT s (t s ) t0 ) 0,s i ) N rs,i
dt (t ) dT
c
(t ) (r ,0,i N )
s
s
0, i
(E.3.3)
s
r ,i
s
where t0 istheinitialtime(s), r ,i (t ) isthe Li phase(cycle)ofreceiverlocaloscillatorand i (t ) isthe
Li phase (cycle) of transmitted navigation signal at the time t . r ,0,i is the Li initial phase (cycle) of
receiverlocaloscillatorand rs,0,i isthe Li initialphase(cycle)oftransmittednavigationsignalatthe
time t0 .
The Li phaserange rs,i ,definedasthecarrierphasemultipliedbythecarrierfrequency i inm,also

s
s
can be expressed by using the carrier phase bias Br ,i and carrierphase correction terms d r , i
138
including antenna phase center offsets and variations, station displacement by earth tides, phase
windupeffectandrelativitycorrectiononthesatelliteclockas:
rs,i irs,i
c(tr t s ) c( dtr (tr ) dT s (t s )) i (r ,0,i 0,s i N rs,i ) i
(E.3.4)
(E.3.5)
rs c(dtr (tr ) dT s (t s )) I rs,i Trs i Brs,i d rs,i
where:
Brs,i r ,0,i 0,s i N rs,i
d rs,i d r , pco,iT ers,enu E s d spco,i
s
T s
ers d r , pcv,i ( El ) d pcv
,i ( ) d r , disp er ,enu i pw
(E.3.6)
N rs,i isoftencalledascarrierphaseintegerambiguity,carriercycleambiguityorsimplyambiguity.For
thedetailedformulationofthecarrierphasecorrectionterms,referAppendixE.9.
(4) Geometricrangebetweenreceiverandsatelliteantennas
The geometric range is defined as the physical distance between the satellite antenna phase center
positionandthereceiverantennaphasecenterpositionintheinertialcoordinates.Atfirst,thesignal
transmissiontime t s canbederivedfrom:
t s tr Prs,i / c dT (t s )
(E.3.7)
Thebothsidesintheequationincludes t s .Soseveraliterationsareneededtosolvetheequation.The
geometric range can be expressedby using the receiver and satellite antenna phase center positions
rr (tr ) ( xr , yr , zr )T at the time tr and r s (t s ) ( x s , y s , z s )T at the time t s in the ECEF (earth center
earthfixed)coordinatesas:
rs U (tr )rr (tr ) U (t s )r s (t s )
(E.3.8)
where U (t ) istheECEFtoECI(earthcenterinertial)coordinatestransformationmatrixatthetime t .
FortheexpressionintheECEFcoordinates,theearthrotationeffecthastobeincorporatedintoobtain
the geometric range. The equation can be approximated by one of the following equations with
adequateprecisionunder1mmlevel.CurrentversionRTKLIBalwaysusestheequation(F.3.8b)forthe
geometricrange.Thelasttermin(F.3.8b)issometimescalledasSagnaceffect.
139
rs rr (tr ) Rz (e rs / c)r s (t s )
rs rr (tr ) r s (t s )
e
c
( x s yr y s xr )
rs rr (tr ) Rz (e (tr t s ))r s (t s )
(E.3.8a)
(E.3.8b)
(E.3.8c)
y
Receiver
r s (t s )
rr (tr )
z
x
Earth
Satellite
e (tr t s )
ECEFatsignaltransmission
ECEFatsignalreception
FigureE.31GeometricRangeandEarthRotationCorrection
(5) Azimuthandelevationanglesofsatellitedirection
The unit LOS (lineofsight) vector from the receiver to the satellite can be expressed in the ECEF
coordinatesas:
ers
r s (t s ) rr (tr )
r s (t s ) rr (tr )
(E.3.9)
Intheequation,theearthrotationeffectisneglected.Theazimuthandelevationangles Azrs and Elrs of

thesatellitedirectionfromthereceiversitecanbederivedfrom:
e rs, enu E r e rs (ee , en , eu )T
Az rs
ATAN 2(ee , en )
Elrs arcsin(eu )
(E.3.10)
(E.3.11)
(E.3.12)
140
where Er isthecoordinatesrotationmatrixfromECEFtothelocalcoordinatesatthereceiverposition.
ReferE.2fordetailedformationofthematrix.
z(U)
Satellite
Receiver
El
Az
x(E)
y(N)
FigureE.32LocalCoordinatesandAzimuthandElevationAngles
141
E.4
GNSS Satellite Ephemerides and Clocks
RTKLIBsupportsbroadcastephemeridesandclocksforGPS,GLONASS,Galileo,QZSS,BeiDouandSBAS.
ItalsosupportsthepreciseephemeridesandclocksprovidedastheSP3c[22]andclockRINEX[15]including
Galileo,QZSSandBeiDouforpostprocessingmodes.Forrealtimemodes,thebroadcastephemeridesand
clocks corrected by the SBAS longterm and fast corrections and the RTCM 3 SSR (state space
representation) corrections are also supported. The following equations show the ephemeris and clock
modelsusedinRTKLIB.
(1) BroadcastephemeridesandclocksforGPS,GalileoandQZSS[1][5][6]
Broadcast ephemeris and SV clock parameters for GPS, Galileo and QZSS are given in navigation
messagesas:
peph (toe , toc , IOD ) ( a , e, i0 , 0 , , M 0 , n , I , , Cus , Cuc , C rs , C rc , Cis , Cic , af 0 , af1 , af 2 , TGD )T
(E.4.1)
By using these parameters, the satellite position (antenna phase center position) r s (t ) in ECEF, the
satelliteclockbias dT s (t ) andclockdrift dT s (t ) arecomputedas:
tk t toe
(E.4.2)
(E.4.3)
(E.4.4)
(E.4.5)
(E.4.6)
u Cus sin 2 Cuc cos 2
(E.4.7)
r Crs sin 2 Crc cos 2
(E.4.8)
i Cis sin 2 Cic cos 2
(E.4.9)
u u
(E.4.10)
(F.4.11)
(E.4.12)
(E.4.13)
cos u cos sin u cos i sin
r s (t ) r cos u sin sin u cos i cos
sin u sin i
(E.4.14)
tc t toc
(E.4.15)
M M 0 3 n tk
a
M E e sin E
1 e2 sin E
cos E e
arctan
r a (1 e cos E ) r
i i i I t
0
0 ( e ) tk e toe
142
dT s (t ) af 0 af1tc af 2tc 2
dT s (t ) af1 2 af 2tc
2
c2
e A sin E bTGD
(E.4.16)
(E.4.17)
where:
:earthgravitationalconstant( 3.9860050 1014 m3/s2forGPSandQZSS, 3.986004418 1014 m3/s2
forGalileo)
e :earthangularvelocity( 7.2921151467 10-5 rad/s)

b f12 / f i 2 for Li pseudorange
TGD :groupdelayparametersforGPSandQZSS, BGD forGalileo(s)
TheKeplerequation(E.4.4)canbesolvedthefollowingiterationbyNewtonsmethod.
E0 M
Ei 1 Ei
Ei e sin Ei M
1 e cos Ei
E lim Ei
i
(E.4.18)
(E.4.19)
(E.4.20)
The broadcast ephemerides and clock are applied in case that the processing option Satellite
Ephemeris/ClocktoBroadcastaswellasGLONASS,BeiDouandSBAS.
(2) BroadcastephemeridesandclocksforGLONASS[4]
BroadcastephemerisandclockparametersforGLONASSaregiveninthenavigationmessagesas:
peph (tb ) ( x, y, z , vx , v y , vz , a x , a y , a z , n , n )
(E.4.21)
The differential equations for the satellite position r s (t ) ( x, y, z )T and velocity v s (t ) (vx , v y , vz )T in
ECEF(PZ90.02)canbeformedas:
dx
dy
dz
vx ,
v y ,
vz
dt
dt
dt
dv x
a 2
3
3 x J 2 5e
dt
2
r
r
dv y
dt
5z 2
x 1 2
a 2 5z 2
3
J 2 5e y 1 2
2
r
r
a 2
3
dv z
3 z J 2 5e
2
dt
r
r
5z 2
z3 2
(E.4.22)
e 2 x 2e v y a x
(E.4.23)
e 2 y 2e v x a y
(E.4.24)
az
(E.4.25)
where:
ae :earthsemimajoraxis( 6378136.0 m)
143
:earthgravitationalconstant( 398600.44 109 m3/s2)
e :earthangularvelocity( 7.292115 10-5 rad/s)

J 2 :secondzonalharmonicofthegeopotential( 1082625.7 109 )
r
x2 y 2 z 2
NotethattwoerratainA.3.1.2ofGLONASSICD5.1[4]hasbecorrectedinthemodelsabove.
Thesatelliteposition r s (t ) andvelocity v s (t ) atthetime t canbederivedbytheRK4(RungeKutta

4thorderandstage)numericalintegrationtosolvethesedifferentialequationswiththeinitialsatellite
position r s (tb ) and velocity v s (tb ) at the reference time tb . For satellite clock bias dT s (t ) and drift
dT s (t ) attheepochtime t arealsoderivedas:
dT s (t ) n n (t tb )
(E.4.26)
dT s (t ) n
(E.4.27)
The relativistic effect in the satellite clock are included in the GLONASS clock parameters. So the
relativisticcorrectionisnotappliedinthiscase.
(3) BroadcastephemeridesandclocksforBeiDou[7]
For BeiDou satellites, the similar ephemeris and clock parameters as GPS, Galileo and QZSS are
providedinthenavigationmessagesas:
peph (toe , toc ) ( a , e , i0 , 0 , , M 0 , n , I , , Cus , Cuc , C rs , C rc , Cis , Cic , af 0 , af1 , af 2 , TGD )T
(E.4.28)
For MEO andIGSOsatellites of BeiDou, the same formulations as (1) for GPS ephemeris andclock,
exceptfor = 3.986004418 1014 , e = 7.2921150 10-5 rad/sandthetime t isexpressedinBDT.
To obtain the satellite position r s (t ) of BeiDou GEO satellites at the time t in BDT, the equation
(E.5.13)and(E.5.14)shouldbereplacedby:
0 tk e toe
cos u cos sin u cos i sin
r s (t ) rRz (etk ) Rx (5) cos u sin sin u cos i cos
sin u sin i
where:
144
(F.4.29)
(E.4.30)
0
1
Rx ( ) 0 cos
0 sin
0
cos
sin , Rz ( ) sin
0
cos
sin
cos
0
0
1
(4) BroadcastephemeridesandclocksforSBAS[8]
Navigation message parameters for SBAS GEO satellites are given in the SBAS messages (message
type9)as:
peph (t0 ) ( x, y , z , vx , v y , v z , a x , a y , a z , aGF 0 , aGF 1 )
(E.4.31)
By using these parameters, the satellite position r s (t ) in ECEF and satellite clock bias dT s (t ) are
computedas:
ax
x vx
1

r (t ) y v y (t t0 ) a y (t t0 ) 2
2
z
vz
az
(E.4.32)
dT s (t ) aGF 0 aGF 1 (t t0 )
(E.4.33)
(E.4.38)
(5) SBASorbitandclockcorrections[8]
TheSBASorbitandclockcorrectionsaredefinedasthefollowingparameters.
sbas (t0 , IOD ) ( x , y , z , x , y , z , af 0 , af1 )
The IOD indicates the target broadcast ephemeris and clock parameters. The corrected satellite
position r s (t ) attime t iscomputedas:
x x

r (t ) r broadcast (t ) y y (t t0 )
z z

s
(E.4.39)
where:
r s broadcast (t ) :satellitepositionattime t computedbythebroadcastephemeriswith IOD (m)
Thecorrectedsatelliteclockbias dT s (t ) atthetime t isalsocomputedwiththeSSRcorrectionas:
dT s (t ) dT s broadcast (t ) af 0 af1 (t t0 )
145
(E.4.40)
where:
dT s broadcast (t ) :satelliteclockbiasattime t computedbythebroadcastclockwith IOD .
The SBAS correction with broadcast ephemerides and clocks are appliedin casethat the processing
optionSatelliteEphemeris/ClocktoBroadcast+SBAS.
(6) Preciseephemeridesandclocks
ThepreciseephemeridesforGPS,GLONASS,Galileo,QZSSandBeiDouareusuallyprovidedasSP3c
filescontainingsatellitepositionsandvelocities(optional)atevery15minor5minepochs.Toobtain
the satellite position at the time t , an appropriate interpolation is needed. RTKLIB uses the fixed
degree( n 10 )polynomialinterpolationbyNewtonNevillesalgorithmas:
Pj , j (t ) x j
p j ,k (t )
(tk t ) p j ,k 1(t ) (t t j ) p j 1,k (t )

tk t j
(i j i n)
(E.4.34)
(i j k i n)
(E.4.35)
where n isthedegreeofthepolynomialfortheinterpolationand x(ti ), x(ti 1), x(ti 2 ),..., x(ti n ) arethe

ephemerisvaluesforeachcomponentsattheepochs ti , ti 1, ti 2 ,..., ti n .Forexample,inthe n 4 case,
theinterpolatedvalue x(t ) atthetime t canbederivedas:
pi ,i (t ) x(ti )
pi ,i 1 (t )
pi 1,i 1 (t ) x(ti 1 )
pi 1,i 2 (t )
pi 2,i 2 (t ) x (ti 2 )
pi,i 2 (t )
pi ,i 3 (t )
pi ,4 (t ) x(t )
pi 1,i 3 (t )
pi 1,i 2 (t )
pi 1,i 4 (t )
pi 3,i 3 (t ) x(ti 3 )
pi 2,i 4 (t )
pi 3,i 4 (t )
pi 4,i 4 (t ) x (ti 4 )
NotethatpreciseephemeridesusuallypresenttheCoM(centerofmass)positionsofsatellitenotasthe
antennaphasecenterposition.Sousersshouldcorrectthesatelliteantennaphasecenteroffsettouse
thepreciseephemerides.Fordetails,referAppendixE.8.
Inspiteofthepreciseephemerishighorderpolynomialinterpolation,asimplelinearinterpolationis
implementedforpreciseclocksprovidedasSP3corclockRINEXfilesas:
146
dT s (t )
(ti 1 t )dT s (ti ) (t ti )dT s (ti 1)
ti 1 ti
(ti t ti 1)
(E.4.36)
ForthepreciseclocksprovidedbyIGS(InternationalGNSSservice),therelativisticeffectshouldbe
correctedas:[68]
dT s (t )
(ti 1 t )dT s (ti ) (t ti )dT s (ti 1)

r s (t )T v s (t )
2
ti 1 ti
c2
(E.4.37)
where r s (t ) and v s (t ) arethesatellitepositionandvelocityderivedfromthepreciseephemerides.
The precise ephemerides and clocks are applied in case that the processing option Satellite
Ephemeris/ClocktoPrecise.
(7) RTCMSSRorbitandclockcorrections[18]
TheRTCMSSRorbitandclockcorrectionsaredefinedasthefollowingparameters.
ssr (t0 , IOD ) ( Oradial , Oalong , Ocross , O radial , O along , O cross , C0 , C1, C2 )
(E.4.41)
The IOD indicates the target broadcast ephemeris and clock parameters. The corrected satellite
position r s (t ) attime t iscomputedas:
ealong
v s broadcast (t )
(E.4.42)
(E.4.43)
(E.4.44)
Oradial O radial

O Oalong O along (t t0 )

Ocross O cross
(E.4.43)
(E.4.45)
ecross
v s broadcast (t )
r s broadcast (t ) v s broadcast (t )
r s broadcast (t ) v s broadcast (t )
eradial ealong ecross
r s (t ) r sbroadcast (t ) eradial , ealong , ecross O
where:
r s broadcast (t ) :satellitepositionattime t computedbythebroadcastephemeriswith IOD (m)

v s broadcast (t ) :satellitevelocityattime t computedbythebroadcastephemeriswith IOD (m/s)
147
The satellite velocity v s broadcast (t ) is computed by the following differential approximation with
t 0.001 (s).
v sbroadcast (t )
r s broadcast (t t ) r s broadcast (t )

t
(E.4.46)
Thecorrectedsatelliteclockbias dT s (t ) atthetime t isalsocomputedwiththeSSRcorrectionas:
C C0 C1 (t t0 ) C2 (t t0 ) 2
C
s
s
dT (t ) dT
broadcast (t )
(E.4.47)
(E.4.48)
where:
dT s broadcast (t ) :satelliteclockbiasattime t computedbythebroadcastclockwith IOD withthe
trel
followingrelativitycorrection.
2r s broadcast (t )T v s broadcast (t )
C2
(E.4.49)
The SSR corrections with broadcast ephemerides and clocks are applied in case that the processing
optionSatelliteEphemeris/ClocktoBroadcast+SSRAPCorBroadcast+SSRCoM.
148
E.5
Troposphere and Ionosphere Models
RTKLIBsupportsthefollowingtroposphereandionospheremodels.
(1) Tropospheremodel
Thestandardatmospherecanbeexpressedas:
p 1013.25 (1 2.2557 105 h)5.2568

3
T 15.0 6.5 10 h 273.15
17.15T 4684.0 hrel

e 6.108 exp
T 38.45 100
(E.5.1)
(E.5.2)
(E.5.3)
where p 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 hrel is the
relativehumidity.Thetroposphericdelay Trs isexpressedbytheSaastamoinenmodelwith p , T and
e derivedfromthestandardatmosphere.
Trs
0.002277
1255
0.05 e tan 2 z
p
cos z
T
(E.5.4)
where z isthezenithangle(rad)as z / 2 Elrs .
ThestandardatmosphereandtheSaastamoinenmodelareappliedincasethattheprocessingoption
TroposphereCorrectionissettoSaastamoinen,wherethegeodeticheightisapproximatedbythe
ellipsoidalheightandtherelativehumidityisfixedto70%.
(2) SBAStropospheremodel
If the processing option Troposphere correction is set to SBAS, the SBAS troposphere models
definedintheSBASreceiverspecificationsareapplied.ThemodeloftencalledasMOPSmodel.Refer
[8]A.4.2.4fordetails.
(3) Precisetropospheremodel
IftheprocessingoptionTroposphereCorrectionissettoEstimateZTDorEstimateZTD+Grad,a
moreprecisetropospheremodelisappliedwithstrictmappingfunctionsas:
149
m( Elrs ) mW ( Elrs ) 1 cot Elrs (GN , r cos Azrs GE , r sin Azrs )
(E.5.5)
Trs mH ( Elrs ) Z H , r m( Elrs )( ZT , r Z H , r )
(E.5.6)
where:
ZT , r
:troposphericzenithtotaldelay(m)
Z H ,r
:troposphericzenithhydrostaticdelay(m)
m H ( El )
:hydrostaticmappingfunction
mW ( El )
:wetmappingfunction
InRTKLIB,thetroposphericzenithhydrostaticdelayisgivenbySaastamoinenmodel(E.5.4)withthe
zenith angle z 0 and relative humidity hrel 0 . For the mapping function, RTKLIBemploys NMF
(Niellmappingfunction)[70]asdefault.Thezenithtotaldelay Z T , r andthegradientparameters GN , r ,
GH , r (in the case of Estimate ZTD+Grad) are estimated as unknown parameters in the parameter
estimationprocess.Forthemappingfunction,RTKLIBcanusesGMF[71]bysettingthecompileroption
DIERS_MODELsincever.2.4.2.
(4) Broadcastionospheremodel
ForionospherecorrectionforsinglefrequencyGNSSusers,GPSandQZSSnavigationdataincludethe
followingbroadcastionosphericparameters.
pion ( 0 ,1, 2 , 3 , 0 , 1, 2 , 3 )T
(E.5.5)
Byusingtheseionosphericparameters,the L1 ionosphericdelay I rs (m)canbederivedthefollowing

procedure[1].ThemodelisoftencalledasKlobucharmodel.
0.0137 / ( El 0.11) 0.022

i cos Az
i sin Az / cosi
m i 0.064cos(i 1.617)
(E.5.6)
(E.5.7)
(E.5.8)
(E.5.9)
t 4.32 10 4 i t
(E.5.10)
F 1.0 16.0 (0.53 El )3
(E.5.11)
(E.5.12)
F 5 109
( x 1.57)
s
4
Ir
x2 x4
n
9
( x 1.57)
F 5 10 nm 1
2 24
n 1
(E.5.13)
x 2 (t 50400) /
nmn
n 0
150
Corrections by the broadcast ionosphere model are applied if the processing option Ionosphere
CorrectionissettoBroadcastorQZSSBroadcast.
(5) SBASionospheremodel
SBAS corrections for ionospheric delay is provided by the message type 18 (ionospheric grid point
masks)andthemessagetype26(ionosphericdelaycorrections).RTKLIBusestheSBASionospheric
correctioniftheprocessingoptionIonosphereCorrectionissettoSBASandtheseSBASmessages
areprovidedinaninputfile.ForthealgorithmsforthemodelandthedefinitionofIGPs(ionospheric
gridpoints),referA.4.4.9andA.4.4.10oftheSBASreceiverspecifications[8].
(6) Singlelayermodel
TheionosphereisoftenmodeledasasimplesinglelayermodelshowninFigureE.51.Thesinglelayer
modelisalsocalledasathinshellmodel.
Satellite
Ionospheric
PiercePoint
z
z
Ionosphere
Receiver
Earth
RE
FigureE.51SingleLayerIonosphereModel
In the model, the latitude IPP (rad) and the longitude IPP (rad) of the IPP (ionospheric pierce
point)canbederivedfrom:
z / 2 Elrs
(E.5.14)
RE
z ' arcsin
sin z
RE H
(E.5.15)
z z'
(E.5.16)
IPP arcsin(cos sin r sin cos r cos Azrs )
(E.5.17)
151
(r 70 and tan cos Azrs tan( / 2 r )) or (r 70 and tan cos Azrs tan( / 2 r ))
IPP r arcsin
sin sin Azrs
cos IPP
(E.5.18a)
(E.5.18b)
(otherwise)
IPP r arcsin
sin sin Azrs

cos IPP
where RE is the radius of the earth (m) and H is the height of the ionosphere shell (m). RTKLIB
usuallyusesthevalues RE 6378137 and H 350000 .Notethattheearthsurfaceortheionosphere
shellareapproximatedasasphereinthismodel.
IftheVTEC(verticaltotalelectroncontent)value TEC (t , IPP , IPP ) attheIPPPandthetime t isgiven,

the Li ionosphericdelay I rs,i (m)canbeexpressedas:
I rs,i
1 40.3 1016
TEC (t ,IPP , IPP )
cos z '
fi
(E.5.19)
where fi isthecarrierfrequencyofsignals(Hz).
TheVTECvaluesareprovidedinseveralformatsorequations.RTKLIBcurrentlyonlysupportsthe
VTECvaluesprovidedbytheIONEXformat [24].IntheIONEXformat,theVTECareexpressedasthe
pointvaluesinalatitudeandlongitudegrid.RTKLIBinterpolatesthesegridpointvaluesintheIONEX
data to an appropriate IPP position by a simple bilinear interpolation. These VTEC values are
providedateveryepochtimeintervalsintheIONEXfile.Thetimeinterpolationshouldalsobeapplied
inthesunfixedcoordinatesas:
TEC (t , IPP , IPP )
(t ti )TEC (ti ,IPP , IPP (t ti )) (ti 1 t )TEC (ti 1, IPP , IPP (t ti 1 ))
ti 1 ti
(E.5.20)
where ti and ti 1 (ti t ti 1 ) 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
appliediftheprocessingoptionIonosphereCorrectionissettoIONEXTECandIONEXdataare
providedasinputfilesonlyinthepostprocessingmode.
(7) IonospherefreeLC(linearcombination)
152
To eliminate the ionosphere effects in the GNSS signal measurements, a LC (linear combination) of
dualfrequencymeasurementsisoftenutilizedinGNSSdataprocessing.TheionospherefreeLCof Li
and L j pseudorangeandphaserangeareexpressedas:
Prs, LC Ci Prs,i C j Prs, j
(E.5.21)
rs, LC
(E.5.22)
Ci rs,i
C j rs, j
where Ci and C j arethecoefficientsoftheionospherefreeLC.The Ci and C j arederivedfrom:
Ci
Cj
fi 2
fi 2 f j 2
f j2
fi f j 2
2
(E.5.23)
(E.5.24)
where fi and f j are the frequencies (Hz) of Li and L j measurements. Current version RTKLIB
alwaysuses L1 and L2 forGPS,GLONASSandQZSS, L1 and L5 forGalileofortheionospherefree
LC. If setting the processing option Ionosphere Correction to IonoFree LC in the Single or PPP
modes,theionospherefreeLCisusedforbasicmeasurementstoeliminatetheionosphereterm.Note
thattheionospherefreeLCmodelisnotappliedfortheKinematic,StaticorMovingbasemodes.Refer
theE.7(6)fordetails.
153
E.6
Single Point Positioning
RTKLIB employs an iterated weighted LSE (least square estimation) for the Single (single point
positioning)modewithorwithoutSBAScorrections.
(1) LinearLSE
Assumeameasurementvector y aregivenanditcanbemodeledasthefollowinglinearequationsof
anunknownparametervector x andarandommeasurementerrorvector v .
y Hx v
(E.6.1)
Theleastsquarecostfunction J LS isdefinedasthesumofthesquaredmeasurementerrorsas:
J LS v12 v2 2 ... vm 2 v T v
(E.6.2)
(E.6.3)
Byusing(E.6.1)and(E.6.2),thecostfunctioncanberewrittenas:
J LS ( y Hx )T ( y Hx )
y T y y T Hx x T H T y x T H T Hx
Tominimizethecostfunction,thegradientof J LS shouldbezero.Then
J LS
0T yT H ( H T y )T ( H T Hx )T xT H T H
x
2 yT H 2 xT H T H 0
(E.6.4)
(E.6.5)
Itgivessocalledanormalequationas:
H T Hx H T y
Tosolvethenormalequation,wecangettheestimatedunknownparametervector x bytheLSEas:
x ( H T H ) 1 H T y
(E.6.6)
If the weightsof each measurements are given, the cost function (E.6.3) can be rewritten by using a
154
weightmatrix W .
JWLS v T Wv
(E.6.7)
Tominimizethecostfunction JWLS ,wecanobtaintheestimatedunknownparametervectorbythe

weightedLSEbythesimilarwayforthesimpleLSEas:
x ( H T WH ) 1 H T Wy
(E.6.8)
Theweightmatrix W fortheweightedLSEisoftengivenas:
W diag ( 12 , 2 2 ,..., m 2 )
where i istheaprioristandarddeviationoftheithmeasurementerror.
(2) GaussNewtoniterationfornonlinearLSE
In case that the measurements are not given as linear models, the measurement equations can be
writtenbyageneralnonlinearvectorfunctionas:
y h( x ) v
(E.6.9)
where h( x ) isameasurementvectorfunctionofaparametersvector x .Theequationcanbeextended

byusingTaylorseriesaroundaninitialparametervector x0 as:
h( x ) h( x 0 ) H ( x x 0 ) ..
(E.6.10)
(E.6.11)
where H isapartialderivativesmatrixof h( x ) withrespectto x at
x x0
h( x )
x
x x0
Assumetheinitialparametersareadequatelynearthetruevaluesandthesecondandfurthertermsof
theTaylorseriescanbeneglected.Wecanapproximate(E.6.9)as:
y h( x0 ) H ( x x0 ) v
155
(E.6.12)
Thenwecanobtainthefollowinglinearequation.
y h( x0 ) H ( x x0 ) v
(E.6.13)
By applying linear weighted LSE (E.6.8) for (E.6.13), we can get the normal equation for nonlinear
weightedLSE:
H T WH ( x x0 ) H T W ( y h( x0 ))
(E.6.14)
(E.6.15)
Sowecanobtaintheestimatedunknownparametervector x by:
x x0 ( H T WH ) 1 H T W ( y h( x0 ))
If the initial parameters
x0
are not enough near the true values, we can iteratively improve the
estimatedparameterslike:
x 0 x0
x i 1 x i ( H T WH ) 1 H T W ( y h( x i ))
(E.6.16)
(E.6.17)
(E.6.18)
Iftheiterationisconverged,wecanobtainthefinalestimatedparametersas:
x lim x i
i
TheiteratedLSEisoftencalledasGaussNewtonmethod.Notethatsuchtheiterationsarenotalways
convergedbythesimpleGaussNewtonmethodespeciallyforillconditionedmeasurementequations
havinglargenonlinearity.Inthesecases,weshouldemployanotherstrategyforsuchnonlinearLSE.
ThemostpopularwayforthenonlinearLSEisLM(LevenbergMarquardt)method[69].
(3) Estimationofreceiverpositionandclockbias
ForSinglemodeasPositioningMode,thefollowingsinglepointpositioningprocedureisapplied
to obtain the final solution by epochbyepoch basis. For an epoch time, the unknown parameters
vector x isdefinedas:
156
x ( rr T , cdtr )T
(E.6.19)
(E.6.20)
Thepseudorangemeasurementvector y canbegivenas:
y ( Pr1 , Pr2 , Pr3 ,..., Prm )T
where Prs is the pseudorange measurement. If the processing option Ionosphere Correction set to
IonoFreeLC,theionospherefreeLC(linearcombination)pseudorangedefinedinAppendixE.5(7)
isused.Inothercases,justthe L1 pseudorangeisused.
s2
s3
s1
sm
r
FigureE.61SatelliteGeometryforSinglePointPositioning
Themeasurementequationanditspartialderivativematrixforthesinglepointpositioningareformed
as:
1r cdtr cdT 1 I 1r Tr1

e1r T
r2 cdtr cdT 2 I r2 Tr2

er2T
h( x ) 3 cdt cdT 3 I 3 T s 3 H e 3T
r
r
r
r
r
m
mT
m
m
m
cdt
cdT
I
T
r
r
r
r
er
(F.6.21)
wherethegeometricrange rs andLOSvector ers aregivenbyE.3(4)andE.3(5)withthesatelliteand

receiverpositions.Thesatellitepositions r s andtheclockbiases dT s arealsoderivedfromtheGNSS
satellite ephemerides and clocks described in E.4 according to the processing option Satellite
Ephemeris/Clock.
157
To solve the measurement equation to obtain the final estimated receiver position and the receiver
clockbias,RTKLIBemploystheiteratedweightedLSEas:
x i 1 x i ( H T WH ) 1 H T W ( y h( x i ))
(E.6.22)
Fortheinitialparametervector x0 fortheiteratedweightedLSE,justall0areusedforthefirstepoch
ofthesinglepointpositioning.Onceasolutionobtained,thepositionisusedforthenextepochinitial
receiverposition.Fortheweightmatrix W ,RTKLIBusesthefollowingformulas
W diag ( 12 , 2 2 ,..., m 2 )
2 F s Rr a 2 b 2 / sin Elrs eph 2 ion 2 trop 2 bias 2
(E.6.23)
(E.6.24)
where:
F s
:satellitesystemerrorfactor
(1:GPS,Galileo,QZSSandBeiDou,1.5:GLONASS,3.0:SBAS)
Rr
:code/carrierphaseerrorratio
a , b
:carrierphaseerrorfactoraandb(m)
eph
:standarddeviationofephemerisandclockerror(m)
ion
:standarddeviationofionospherecorrectionmodelerror(m)
trop
:standarddeviationoftropospherecorrectionmodelerror(m)
bias
:standarddeviationofcodebiaserror(m)
For the standard deviation of ephemeris and clock error, URA (user range accuracy) or similar
indicatorsareusedinRTKLIB.Byseveraliterations,thesolutionisconvergedinthenormalcaseand
theestimatedreceiverposition rr andthereceiverclockbias dtr areobtained.
)T
x lim x i ( rrT , cdt
r

i
(E.6.25)
The estimated receiver clock bias dtr is not explicitly output to the solution file. Instead, it is
incorporated in the solution timetag. That means the solution timetag indicates not the receiver
timetagbutthetruesignalreceptiontimemeasuredinGPST.
(4) Estimationofreceivervelocityandclockdrift
IfDopplerfrequencymeasurementsofGNSSsignalsaregiven,receivervelocitiesandclockdriftscan
beestimatedthefollowingprocedure.Foranepochtime,theunknownparametersvector x forthe
158
velocityestimationisdefinedas:
x (v r T , cdtr )T
(E.6.26)
where vr and dtr arethereceivervelocityinECEF(m/s)andthereceiverclockdrift(s/s),respectively.

Therangeratemeasurementvector y canbegivenas:
y ( i D1r ,i , i Dr2,i , i Dr3,i ,..., i Drm,i )T
(E.6.27)
where Drs,i is the Li Doppler frequency measurement of the satellite s . RTKLIB always uses L1
Dopplerfrequencymeasurements.Thesemeasurementequationsanditspartialderivativematrixare
formedas:
rr1 cdtr
rr2 cdtr
h( x ) r 3 cdt
r
r
rr cdtr
e1r T
cdT 1
er2T
cdT 2
cdT 3 H er3T

mT
m
cdT
er
(F.6.28)
Therangerage rrs betweenthereceiverandthesatelliteintheseequationsisderivedfrom:
rrs ersT v s (t s ) v r
e
c
v x
s
y r
y s v x, r v xs yr x s v y , r
(F.6.29)
where v s (vxs , v sy , vzs )T and vr (vx, r , v y , r , vz , r )T .ByusingtheiteratedLSEsimilartotheestimationof

thereceiverposition,wecanobtainthereceivervelocityandclockdriftas:
)T
x lim x i (vr T , cdt
r

i
(E.6.30)
wheretheweightmatrix W issetto I (nonweightedLSE).
(5) SolutionvalidationandRAIMFDE
The estimated receiver positions described in (3) might include invalid solutions due to unmodeled
measurementerrors.Totestwhetherthevalidsolutionornotandrejecttheinvalidsolutions,RTKLIB
appliesthefollowingvalidationafterobtainingthereceiverpositionestimated.Ifthevalidationfailed,
159
thesolutionisrejectedwithwarningmessages.
vs
s
r
(E.6.31)
(E.6.32)
(E.6.33)
(E.6.34)
cdT s I s T s )
( rs cdt
r
r
r
v (v1, v2 , v3 ,..., vm )T
v v
2 (m n 1)
m n 1
GDOP GDOPthres
where n is the number of estimated parameters and m is the number of measurements. 2 (n) is
chisquare distribution of the degree of freedom n and 0.001 (0.1%). GDOP is geometric DOP
(dilutionofprecision). GDOPthres canbesetastheprocessingoptionRejectThresholdofGDOP.
In addition to the solution validation described above, RAIM (receiver autonomous integrity
monitoring)FDE(faultdetectionandexclusion)functionisaddedinver.2.4.2.Iftheprocessingoption
RAIMFDEisenabledandthechisquaredtestby(E.6.33)isfailed,RTKLIBretriestheestimationby
excludingonebyoneofthevisiblesatellites.Afterallofretries,theestimatedreceiverpositionwith
theminimumnormalizedsquaredresiduals vT v isselectedasthefinalsolution.Insuchscheme,an
invalidmeasurement,whichmightbeduetosatellitemalfunction,receiverfaultorlargemultipath,is
excludedasanoutlier.Notethatthisfeaturedoesnoteffectivewithtwoormoreinvalidmeasurements.
It also needs two redundant visible satellites, that means at least 6 visible satellites are necessary to
obtainthefinalsolution.
160
E.7
Kinematic, Static and Moving-Baseline
RTKLIBemploysEKF(extendedKalmanfilter)inordertoobtainthefinalsolutionsinDGPS/DGNSS,Static,
Kinematic and Movingbaseline modes in conjunction with the GNSS signal measurement models in
AppendixE.3andthetroposphereandionospheremodelsinAppendixE.5.
(1) EKFformulation[65]
By using EKF, a state vector x for unknown model parameters and its covariance matrix P can be
estimatedwithameasurementvector y k atanepoch tk by:
x k ( ) x k ( ) K k ( yk h( x k ( )))
Pk ( ) ( I K k H ( x k ( ))) Pk ( )
k Pk ( ) H ( x k ( ))( H ( x k ( )) Pk ( ) H ( x k ()) Rk )
T
(E.7.1)
(E.7.2)
(E.7.3)
where x k and Pk are the estimated state vectorand its covariance matrix at the epoch time tk . ( )
and ( ) indicates before and after measurement update of EKF. h (x ) , H (x ) and Rk are the
measurements model vector, the matrix of partial derivatives and the covariance matrix of
measurement errors, respectively. Assuming the systemmodel linear, the time update of the state
vectoranditscovariancematrixforEKFisexpressedas:
x k 1 ( ) Fkk 1 x k ( )
Pk 1 ( )
Fkk 1Pk ( ) Fkk 1T
Qkk 1
(E.7.4)
(E.7.5)
where Fkk 1 and Q kk 1 are the transition matrix and the covariance matrix of the system noise from
epochtime tk to t k 1 .
(2) DD(doubledifference)measurementmodelforshortbaseline
Forcarrierbasedrelativepositioningwithashortlength(<10km)baselinebetweentherover r and
the basestation b , the following DD measurement equations are generally used for the Li
phaserange and pseudorange. In these equations, the satellite and receiver clock biases, and the
ionosphericandtroposphericeffectsandotherminorcorrectiontermsarealmosteliminatedbyusing
DDtechnique.
k
s
rbjk,i rbjk i ( Brbj ,i Brb
,i ) d r ,i
Prbjk,i rbjk P
161
(E.7.6)
Satellitej
bj
bk
rj
Receiverr
Satellitek
rk
Baseline
Receiverb
FigureE.71DD(doubledifference)Formulation
wherethe d rs,i isthecarrierphasecorrectionterms,whichcanbeneglectedintheshortbaselinecase

except for the receiver PCV terms with different antennas. To obtain the geometric range rs in the
equation,thebasestationposition rb isfixedtopredeterminedvaluesexceptforthemovingbaseline
case.
NotethattheSDbetweenreceivershadbettertobemadebetweenthemeasurementswiththesame
epochtime.However,thereceiversarenotperfectlysynchronizedduetothedifferentreceiverclock
biases.Insometypicalcases,thesamplingintervaloftheroverisdifferentfromthebasestationlike10
Hzand1Hz.TocontroltheSD,RTKLIBtakesasimplecriteriontoselectameasurementpair.RTKLIB
simplyselectsthelastmeasurementbeforeorequaltotheepochtimeoftherovermeasurement.The
epoch time difference between the rover and the base station is sometimes called as Age of
Differential.Asthetimedifferencegrows,theaccuracyofthesolutionisgraduallydegradeddueto
thesatelliteclockdriftandthevariationofionospheredelay.Tocompensateonlythesatelliteclock
drift,RTKLIBcorrectstheSDmeasurementbyusingbroadcastSVclockparameters.Themaximum
AgeofDifferentialissetastheprocessingoptionMAXAgeofDiff.
AstothesatellitesideSDgeneration,RTKLIBselectsareferencesatellitewiththemaximumelevation
angle on the epochbyepoch basis. Note that no satelliteside SD is generated between satellites of
differentnavigationsystemslikebetweenGPSandGLONASS.Itisbecausethatthereceiverusually
has different group delays for the signal of different navigation system even if they have the same
carrierfrequency.ThegroupdelaydifferenceinreceiversiscalledasareceiverISB(intersystembias).
AssumingtheuseoftriplefrequencyGPS/GNSSreceiversforbothoftheroverandthebasestation,
theunknownstatevector x tobeestimatedcanbedefinedas:
162
x ( rr T , v r T , B1T , B2T , B5T )T
(E.7.7)
2
m T
where Bi ( B1rb ,i , Brb
,i ,..., Brb ,i ) is Li SD(singledifference)carrierphasebiases(cycle).AstheRTKLIB
implementation, it internally uses SD carrierphase biases instead of DD to avoid bothersome

handoverhandlingofreferencesatellites.TheSDbiasesalsoassisttoresolveintegerambiguitiesin
GLONASSFDMAsignals.
Themeasurementvector y isalsodefinedwithDDphaserangeandpseudorangemeasurementsas:
y (1,T , 2,T , 5,T , P1T , P2T , P5T )T
(E.7.8)
where:
12
13
14
1m T
i ( rb
,i , rb ,i , rb ,i ,..., rb ,i )
12
13
14
1m T
Pi ( Prb
,i , Prb ,i , Prb ,i ,..., Prb ,i )
(3) MeasurementupdateofEKFforshortbaseline
Byusingtheequation(E.7.6),themeasurementmodelvector h(x ) ,thematrixofpartialderivatives
H (x ) andthecovariancematrixofmeasurementerrors R canbewrittenas:
h( x ) ( h ,1T , h ,2T , h ,5T , hP ,1T , hP ,2T , hP ,5T )T
H ( x)
h( x )
x
DR ,1DT
x x
DE
DE
DE
DE
DE
DE
0 1D
0
0
0
0
2 D 0
0
0
0
5 D
0
0
0
0
0
0
0
0
0
0
0
0
(E.7.9)
(E.7.10)
(E.7.11)
DR ,2 DT
DR ,5 DT
DRP,1DT
DRP,2 DT
where:
2
12
12
)
i ( B1rb Brb
rb
rb
13
1
3
13
i ( Brb Brb )

h ,i rb
, hP ,i rb

1m
1m
1
m
rb i ( Brb Brb )
rb
163
T
DRP,5 D
1 1 0
1 0 1
D

1
0
0
0
:SD(singledifferencing)matrix

E (e 1r , e r2 ,..., e rm ) T
1 2
2 2
m 2
R ,i diag(2
,i , 2 ,i ,..., 2 ,i )
RP ,i diag(2 1P ,i 2 , 2 P2 ,i 2 ,..., 2 Pm,i 2 )
s , i :standarddeviationof Li phaserangemeasurementerror(m)
Ps ,i :standarddeviationof Li pseudorangemeasurementerror(m)
By solving the EKF formulas (E.7.1) with these equations, the estimated rover antenna position,
velocityandfloatSDcarrierphasebiasestheepochtime tk areobtained.
(4) TimeupdateofEKF
Forthekinematicpositioningmodewithreceiverdynamics(PositioningMode=KinematicandREC
Dynamics=ON)inRTKLIB,thetimeupdateofEKF(E.7.2)isexpressedwith:
I33
Fkk 1
I33 r
I33
033
k 1
Q
Qv
, k
I (3m 3)(3m 3)
0(3m 3)(3m 3)
(E.7.12)
where:
Qv E r T diag( ve 2 r , vn 2 r , vu 2 r ) E r
and r t k 1 t k isGPS/GNSSreceiversamplinginterval(s), ( ve , vn , vu ) arethestandarddeviations

ofeast,northandupcomponentsoftherovervelocitysystemnoises(m/s/ s ).
For the pure kinematic mode without receiver dynamics (Positioning Mode = Kinematic and REC
Dynamics=OFF),equations(E.7.9)isbereplacedby:
Fkk 1
I33
I33
33
k 1
033
, Qk
I (3m 3)(3m 3)
0
(3m 3)(3m 3)
(E.7.13)
Toavoidnumericalinstabilitybyaddinginfiniteprocessnoisestothevariancesofthereceiverposition,
thereceiverpositionstatesareinsteadresettotheinitialguessvaluesateveryepochsandadequately
164
largeprocessnoises(104m2)areaddedtothevarianceinRTKLIB.Theinitialpositionisderivedfrom
the single point positioning process which is used to avoid the iteration for nonlinear signal
measurementmodel.
Inthestaticmode(PositioningMode=Static),equations(F.7.10)issimplyreplacedby:
Fkk 1
I33
I33
033
k 1
033
, Qk
I (3m 3)(3m 3)
0
(3m 3)(3m 3)
(E.7.14)
Intheinstantaneousambiguityresolutionmode(IntegerAmbiguityResolution=Instantaneous),the
time update of the SD carrierphase biases Bi are handled in a little different way from described
above.Inthismode,valuesofthecarrierphasebiasstatesarenotsucceededtothenextepochbythe
EKFtimeupdate.Thebiasesareresettotheinitialguessvaluesateveryepochsandadequatelylarge
processnoises(104m2)areaddedtothevariance.Ifacycleslipisdetectedinthemeasurementdata,
the state of corresponding SD carrierphase bias is also reset to initial value. RTKLIB detects the
cycleslipsbyLLI(lossoflockindicator)intheinputmeasurementdataandgeometryfreeLC(linear
combination)phasejumpsifthedualfrequencymeasurementsareavailable.Thecycleslipthreshold
canbechangedbytheprocessingoptionSlipThres.
(5) Integerambiguityresolution
OncetheestimatedstatesobtainedintheEKFmeasurementupdate,thefloatcarrierphaseambiguities
can be resolved into integer values in order to improve accuracy and convergence time (Integer
AmbiguityRes=Continuous,InstantaneousorFixandHold).Atfirst,theestimatedstatesandtheir
covariancematrixaretransformedtoDDformsby:
x 'k G x k ( ) ( rr T , vr T , N T )T
(E.7.15)
Q
P 'k GPk ()GT R
QRN
(E.7.16)
QNR
QN
where:
I 66
D
D
:SDtoDDtransformationmatrix
165
In this transformation, the SD carrierphase biases are transferred to the DD carrierphase form in
order to eliminate receiver initial phase terms to obtain integer ambiguities N and theircovariance
QN .Intheseformulas,themostappropriateintegervector N fortheintegerambiguitiesisobtained
bysolvinganILS(integerleastsquare)problemexpressedas:
N argmin (( N N )T QN 1( N N ))
N Z
(E.7.17)
To solve the ILS problem, a wellknown efficient search strategy LAMBDA [66] and its extension
MLAMBDA[67]areemployedinRTKLIB.LAMBDAandMLAMBDAofferthecombinationofalinear
transformation to shrink the integer vector search space and a skillful treesearch procedure in the
transformed space. The integer vector solution by these procedures is validated by the following
simpleRatioTest.IntheRatioTest,theratiofactor R ,definedastheratiooftheweightedsumof
the squared residuals by the second best solution N 2 to one by the best N , is used to check the
reliability of the solution. The validation threshold Rthres can be set by the processing option Min
RatiotoFixAmbiguity.CurrentversionRTKLIBjustonlysupportsafixedthresholdvalue.
( N 2 N )T QN 1( N 2 N )
Rthres
( N N )T Q 1( N N )
(E.7.18)
After thevalidation, the FIXEDsolution of the rover antenna positionand velocity rr and v r are
obtained by solving the following equation. If the validation failed, RTKLIB outputs the FLOAT
solution rr and vr instead.
rr rr
1
QRN QN ( N N )
vr vr
(E.7.19)
IncasetheprocessingoptionissetastheFixandHoldmode(IntegerAmbiguityResolution=Fix
and Hold) and the fixed solution properly validated by the previous test, the DD carrierphase bias
parameters are tightly constraint to the fixed integer values. For these purpose, RTKLIB inputs the
followingpseudomeasurementstoEKFandupdatesEKFby(F.7.1).
yN
h( x ) G x
(E.7.21)
H ( x) G
(E.7.22)
R diag ( c 2 , c 2 , c 2 ,...)
(E.7.23)
166
(E.7.20)
where:
0
G 0
0
D
D
:SDtoDDtransformationmatrix
D
c :constrainttofixedintegerambiguities(=0.001cycle).
TheFixandHoldmodewasfirstlyintroducedinRTKLIBver.2.4.0inordertoimprovethefixing
ratioespeciallyinthekinematicmodetotrackingmovingreceivers.
(6) LongbaselineDDmeasurementmodel
For the long baseline processing between the rover r and the base station b , the following DD
measurementequationscanbeformedsimilartotheshortbaselineDDmodel.
rbjk, i rbjk I rbjk, k Trbjk i ( Brbj , i Brbk ,i ) d rs,i

Prbjk,i rbjk I rbjk,i Trbjk P
(E.7.24)
wheretheterms I r , i and Tr asthe Li ionospheredelay(m)andtropospheredelay(m)areaddedto

theshortbaselineDDmodel.Preciseephemeridesforsatellitepositionsshouldbeusedtomitigatethe
broadcastephemeriserrorforthebaselineover100km.Inthecarrierphasecorrectionterms d rs,i ,the
earth tides effects should be taken account for the longer baseline than 500 km. To eliminate the
ionosphereterms,anionospherefreeLC(linearcombination)issometimesformed.However,RTKLIB
does not use such explicit LC but does directly estimate the ionosphere terms with dual or triple
frequencymeasurementsbyEKFforbaselineprocessing.
Theunknownstatevector x forthelongbaselinecasecanalsobesettledas:
x (rr T , v r T , Z r , GN , r , GE , r , Z b , GN ,b , GE ,b , I T , B1T , B2T , B5T )T
(E.7.25)
where Z r and Z b are ZTD (zenith total delay) at the rover and basestation sites, GN , r , GE , r , GN ,b
1
2
m T
and GE ,b are the north and east components of tropospheric gradients. I ( I rb , I rb ,..., I rb ) is the SD
verticalionosphericdelayin L1 frequency(m)aswell.
Themeasurementmodelvector h(x ) andthematrixofpartialderivatives H (x) canbewrittenas:
h( x ) ( h ,1T , h ,2T , h ,5T , hP ,1T , hP ,2T , hP ,5T )T
167
(E.7.26)
h ,i
12
rb
Trb12 k (m1I I rb1 mI2 I rb2 ) i ( Brb1 ,i Brb2 ,i ) d rb12.i
13
Trb13 k (m1I I rb1 mI3 I rb3 ) i ( Brb1 ,i Brb3 ,i ) d rb13.i

rb
1m
T 1m (m1 I 1 m m I m ) ( B1 B m ) d 1m
rb
k
I rb
I rb
i
rb , i
rb , i
rb .i
rb
rb12 Trb12 k (m1I I rb1 mI2 I rb2 )

13
Trb13 k (m1I I rb1 mI3 I rb3 )

hP ,i rb
1m
1m
1 1
m m
rb Trb k (mI I rb mI I rb )
DE 0 DMT , r DMT ,b 1 DM I
H ( x)
DE 0 DM
DMT ,b 2 DM I
T ,r
DE 0 DM
DMT ,b 5 DM I
T ,r
1D
2 D
(E.7.27)
(E.7.28)
5 D
(E.7.29)
where:
k k2 / 12
MT ,r
1
1
mWG
mW1 , r ( Elr1 ) cot Elr1 cos Az1r
, r ( Elr )
2
2
m ( El ) mW2 , r ( Elr2 )cot Elr2 cos Azr2
WG , r r
m
m ( El m ) m m ( El m ) cot El m cos Az m
W ,r
r
r
r
WG , r r
mW1 , r ( Elr1 )cot Elr1 sin Az1r
mW2 , r ( Elr2 )cot Elr2 sin Azr2
mWm , r ( Elrm ) cot Elrm sin Azrm
MI (m1I , mI2 ,..., mIm )T
ThetimeupdateofEKFforthelongbaselinecaseisexpressedas:
I 33
Fkk 1
I 33 r
I 33
033
Qv
k 1
Qk
I 66
I mm
QT
QI
I (3m 3)(3m 3)
0(3m 3)(3m 3)
(E.7.30)
(E.7.31)
where QT and QI 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 basestation and SD
vertical ionospheric delays for each satellites are simply modeled as randomwalk. In addition to
estimate ionosphere and troposphere terms, a Partial fixing feature was added for long baseline
processinginversion2.4.1.Itmeansthatonlythesomepartialportionofallambiguitiesareresolved
into integer values. Other ambiguities except for the fixed are still pending as float values. To
168
determine whether a ambiguity fixed or not fixed, a simple criterion byusing the satellite elevation
angleisimplementedinRTKLIB.Ifasatelliteisunderathresholdoftheelevation,theambiguitiesof
thesatellitearenotfixed.Onlytheambiguitiesofsatellitesoverthethresholdareresolvedtointeger.
TheelevationthresholdfortheambiguityresolutioncanbesetastheprocessingoptionMinElevation
toFixAmbaswellasMinElevationtoHoldAmbtocontroltheFixandHoldfeature.
(7) Movingbaselinemodel
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
movingbaselinemodecanbeutilizedtodeterminethepreciseattitudebymountingtwoantennasto
a moving platform. In RTKLIB, the movingbaseline mode is applied if the processing option
PositioningModeissettoMovingBase.
Inthemovingbaselinemode,thebasestationpositionisnotfixedbutisestimatedbythesinglepoint
positioning process on epochbyepoch 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
kinematicmodedescribedin(1)(5).Inthiscaseonlytherelativepositionismeaningful,thatmeansthe
absolutepositionsolutionsofroverandbasestationhaveonlytheaccuracyassameasthesolutionby
thepointpointingmode.
In addition to the simple implementation for the movingbaseline mode, RTKLIB corrects the time
differencebetweentheroverandthebasestation.Theroverreceiverandthebasestationreceiverare
not synchronized. The receiver clock difference usually reaches 2 ms as maximum. The
unsynchronizedclocksbringtheaccuracydegradationincaseofveryfastmovingplatform.Tocorrect
theclockdifference,thebasestationposition rb iscorrectedbeforethebaselineprocessingby:
rb (tr ) rb (tb ) vb (tb )(tr tb )
(E.7.32)
where tr and tb arethesignalreceptiontimeattheroverandthebasestationestimatedbythesingle

point positioning process. vb (tb ) is also the velocity of the base station estimated with Doppler
measurements. For the attitude determination by the moving baseline mode, the baseline length
constraintcanbeappliediftheprocessingoptionBaselineLengthConstraintenabled.Theconstraint
appliesthefollowingpseudomeasurementintheEKFmeasurementupdate.
y rbaseline
h( x) rr (tr ) rb (tr )
(E.7.33)
(E.7.34)
169
(r (t ) rb (tr ))T
H r r
rr (tr ) rb (tr )
R r2
(E.7.35)
(E.7.36)
where rbaseline isthegivenpredeterminedbaselinelength(m)and r istheconstraintofthebaseline

length(m).Tocopewiththenonlinearityincaseofaveryshortlengthbaseline,iterativemeasurement
updateofEKFissupportedbysettingtheprocessingoptionNumberofFilterIterationtomorethan
1.
170
E.8
PPP (Precise Point Positioning)
InPPPmodes,RTKLIBalsouseEKFestimationprocesssimilartotheschemesdescribedinAppendixE.7.
Thedifferencefromthebaselineprocessing,PPPemploysZD(zerodifference)measurementequationslike
thesinglepointpositioningmodelinsteadofDD.
(1) ZDmeasurementmodelsforPPP
TheionospherefreeLCphaserange rs, LC andpseudorange Prs, LC measurementsforthesatellite s
areexpressedbyusing(E.3.4)and(E.3.2)as:
rs, LC rs c( dtr (tr ) dT s (t s )) Trs Brs, LC d rs, LC

Prs, LC rs c ( dtr (tr ) dT s (t s )) Trs P
(E.8.1)
wheretheionospheretermsin(E.3.4)and(E.3.2)areeliminatedbyformingtheionospherefreeLC
describedinE.5(7). Brs, LC isthecarrierphasebiasinmand d rs, LC istheionospherefreeLCof Li
and L j carrierphasecorrectiontermsexpressedas:
d rs, LC Ci d r , pco,i C j d r , pco,i
s
s
pcv ,i ( ) d pcv , j ( )
ers,enu E s Ci d spco,i C j d spco, j
r , disp
T s
er ,enu
ers Ci d r , pcv,i ( El ) C j d r , pcv, j ( El )
Ci i C j j pw
(E.8.2)
(2) Receiverantennaphasecentermodel
FigureE.81showsthereceiverantennaPCO(phasecenteroffset)andPCV(phasecentervariation).
TheantennaPCOisdefinedastherelativepositionofthereceiverantennaphasecenterwithrespect
totheARP(antennareferencepoint).ThePCVisdefinedastheexcessphasedelaybytheantenna
dependingontheelevationandazimuthangle.ThePCOandPCVvaluesforvariousantennatypes
havebeenmeasuredbytheappropriateantennacalibrationprocessandprovidedbysomestandard
formats. Current version RTKLIB supports the NGS PCV and the ANTEX format for the antenna
modelincludingPCOandPCVdata.ThePCOvalueisusuallyprovideinthelocalcoordinatesatthe
receiverposition.Sothe Li PCOofthereceiverantennainECEF d r , pco,i isexpressedas:
d r , pco,i Er T d r , pco,i ,enu
(E.8.3)
where Er is the ECEF to local coordinates rotation matrix given by (E.2.10) and d r , pco,i ,enu is Li
171
receiverantennaPCOexpressedinthelocalcoordinates.The Li receiverantennaPCV d r , pcv ,i ( El ) at
theelevationangle El isderivedbythelinearinterpolationofgivenPCVvaluesdependingonthe
elevationanglesas:
d r , pcv,i ( El )
( El Eli ) d r , pcv,i ( Eli ) ( Eli 1 El )d r , pcv,i ( Eli 1 )

Eli 1 Eli
(E.8.4)
where Eli El Eli 1 .
Antenna
Phase
Center
d r , pcv
d r, pco
AntennaPhase
CenterOffset
Antenna
Reference
Point (ARP)
y(N)
z(U)
x(E)
FigureF.81ReceiverAntennaPhaseCenter
(3) Satelliteantennaphasecentermodel
FigureF.81showstheGNSSsatelliteantennaPCOandPCV,whicharealsoprovidedastheANTEX
filetypicallybyIGS(internationalGNSSservice)likethereceiverantenna.RTKLIBalsocanimport
such the antenna model for satellites. The satellite antenna PCO is usually given in satellite fixed
coordinateswithrespecttothesatelliteCoM(centerofmass)showninFigureF.83.Sothesatellite
antennaPCOinthesatellitefixedcoordinatesshouldbetransferredtoECEFcoordinates.ThePCVis
alsoexpressedwithrespecttothenadirangle.
172
Mass Center of
Satellite
AntennaPhase
Center
AntennaPhase
d s pco CenterOffset
Nadir Angle
d s pcv
Earth
FigureF.82SatelliteAntennaPhaseCenter
Sun
Satellite
x
z
FigureF.8.3SatelliteBodyFixedCoordinateSystem
Assumingthenominalsatelliteattitudecontrolmode,thecoordinatestransformationmatrix E s from
thesatellitebodyfixedcoordinatestoECEFcoordinatesisgivenas:
e zs
rs
(E.8.5)
(E.8.6)
e zs es
(E.8.7)
e xs e sy e zs
(E.8.8)
(E.8.9)
es
e sy
rs
rsun r s
rsun r s
e zs es
E s (e xs , e sy , e zs )
where rsun isthesunpositioninECEFcoordinates.Thenadirangle canalsobederivedas:
173
arccos
ersT r s
rs
(E.8.10)
(4) Sitedisplacementbyearthtides
Thepositionofareceiverfixedtothegroundisvariedbytheearthtideeffects.Thetideseffectsare
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
sometimesreachesseveral10cmastheverticalcomponent.FigureE.82showstheexampleofthesite
displacementeffectbyearthtides.
FigureE.82DisplacementbyEarthTides
IncurrentversionRTKLIB,solidearthtides,OTL(oceantideloading)andpoletidesaremodeledand
considerediftheprocessingoptionEarthTideCorrectiontoSolidorSolid/OTL.Theearthtide
modelsisbasedonIERSConventions1996 [73].BysettingthecompileroptionDIERS_MODELand
rebuilding APs, RTKLIB uses the IERS Conventions 2010 [74] solid earth tides model by linking the
FORTRANsubroutineDEHANTTIDEINELprovidedasIERS.FortheOTLmodel,OTLcoefficientsas
providedastheBLQformat[63]shouldbeinputasspecifiedastheprocessingoptionOTLBLQFile.
(5) Phasewindupcorrection
Thephasewindupeffectisthephaseadvanceanddelaybytherelativerotationbetweenthereceiver
andsatelliteantennas.Thephasewindupismodeledas:
174
Er (er , xT , er , yT , er , zT )T
(E.8.11)
(E.8.12)
D s e xs eus (eus e xs ) eus e sy
(E.8.13)
Dr er , x ers (ers
(E.8.14)
(E.8.15)
sT T
(e xsT , e sT
y , ez )
er , x ) ers
er , y
pw sign (ers ( D s Dr ))arccos
D s Dr
D s Dr
/ 2 N
where N istheintegerambiguity,whichisdeterminedastoavoidingcyclejumps.
(6) EstimationofreceiverpositionbyPPP
ByusingEKF,theunknownstatevector x forthePPPcaseissettledas:
x (rr T , vrT , cdtr , Z r , GN , r , GE , r , BLC T )T
(E.8.16)
where Z r is ZTD (zenith total delay), GN , r and G E , r are the north and east components of
tropospheric gradients. B LC ( B1r , LC , Br2, LC ,..., Brm, LC )T is ionospherefree LC of ZD (zerodifferenced)
carrierphasebiases(m).
Themeasurementvector y isalsodefinedwithZDionospherefreeLCphaserangeandpseudorange
measurementswith(E.5.21)and(E.5.22)as:
y ( LC ,T , PLC T )T
(E.8.17)
where:
LC ( r1, LC , r2, LC , r3, LC ,..., rm, LC )T
Pi ( Pr1, LC , Pr2, LC , Pr3, LC ,..., Prm, LC )T
Themeasurementmodelvector h(x ) andthematrixofpartialderivatives H (x) canbewrittenas:
h( x ) ( h T , hP T )T
c( dtr dT ) T B
2
c
dt
dT
T
B
d
(
)
c( dt dT m ) T m B m d m
r
r
r , LC
r . LC
r
1
r
2
r
1
r
2
r
1
r , LC
2
r , LC
1
r . LC
2
r . LC
(E.8.18)
(E.8.19)
175
r1 c(dtr dT 1 ) Tr1
2
c(dtr dT 2 ) Tr2
hP r
m
m
r c(dtr dT ) Tr
DE 0 1 DMT I
H ( x)
DE 0 1 DMT 0
R , LC
R
RP , LC
(E.8.20)
(E.8.21)
(E.8.22)
where:
1

1
1

1
1
1
mWG
mW1 , r ( Elr1 ) cot Elr1 cos Az1r
, r ( Elr )
2
2
m ( El ) mW2 , r ( Elr2 )cot Elr2 cos Azr2
M T WG , r r
m
m ( El m ) m m ( El m ) cot El m cos Az m
W ,r
r
r
r
WG , r r
1 2
2 2
m 2
R , LC diag(3
,1 ,3 ,1 ,...,3 ,1 )
RP , LC diag(3 1P ,12 ,3 P2 ,12 ,...,3 Pm,12 )
mW1 , r ( Elr1 ) cot Elr1 sin Az1r
mW2 , r ( Elr2 )cot Elr2 sin Azr2
mWm , r ( Elrm ) cot Elrm sin Azrm
s ,1 :standarddeviationof L1 phaserangemeasurementerror(m)
Ps ,1 :standarddeviationof L1 pseudorangemeasurementerror(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
parametersandtheionospherefreeLCcarrierphasebiasesareestimated.
Notethattoresolvetheintegerambiguityinthecarrierphasebiaseslikethebaselineprocessingcases,
the additional information for the satelliteside FCB (fractional cycle bias) is needed. The process is
sometimes called as PPPAR (ambiguity resolution). Current version RTKLIB only supports the
widelaneFCBandtheIRC(integerrecoveryclock)productsprovidedbyCNES.Theimplementationis
experimental and unstable. The PPPAR feature is enabled in case of the processing option Integer
AmbiguityResolutionissettoPPPARonlyinthepostprocessingmode.
176
Appendix F GNSS Signal Specifications
System
Freq.
(MHz)
1575.42
GPS[1][2][3]
1227.6
L1C/A
2.046
158.5
BPSK(1)
1,023
1.023
1ms
NAV
50
50
L1P(Y)
20.46
161.5
BPSK(10)
1week
10.23
1week
(Y)
NAV
50
50
GLONASS
[4]
1246.00+
0.4375K
1202.025
Galileo
[5]
1575.42
Primary
(chips)
Second
(chips)
Rate
(Mcps)
Period
ENC
Data
Rate
(sps)
Rate
(bps)
Notes
FEC
BOC(10,5)
5.115
30.69
163
BOC(1,1)
10,230
1.023
10ms
CNAV2
100
50
1/2
BlockIII
L1CP
30.69
158.25
TMBOC
(6,1,1/11)
10,230
1,800
1.023
18s
BlockIII
L2C/A
2.046
160.0
BPSK(1)
1,023
1.023
1ms
(NAV)
50
50
BlockIIRM
L2P(Y)
20.46
164.5/
161.5
BPSK(10)
1week
10.23
1week
(Y)
(NAV)
50
50
L2M
BOC(10,5)
5.115
BlockIIRM
L2C
2.046
Q/I
160.0
timemux,
BlockIIRM
L5I
20.46
L5Q
20.46
L1C/A
1.022
L1P
10.22
L2C/A
1.022
L2P
10.22
L3I
20.46
L3Q
20.46
E1A
35.805
E1B
24.552
E1C
Modulation
L1CD
1176.45
1602.00+
0.5625K
NavigationData
I/Q
L1M
Min.
Power
(dBW)
SpreadingCode
Band
Width
(MHz)
Signal
24.552
BlockIIRM
10,230
0.5115
20ms
(CNAV)
50
25
1/2
767,250
0.5115
1.5s
BPSK(10)
10,230
10
10.23
10ms
CNAV
100
50
1/2
BlockIIF
BPSK(10)
10,230
20
10.23
20ms
BlockIIF
BPSK
511
0.511
1ms
NAV
50
50
BPSK
5,110,000
5.11
1s
(Y)
NAV
50
50
167.0
BPSK
511
0.511
1ms
NAV
50
50
BPSK
5,110,000
5.11
1s
(Y)
NAV
50
50
BPSK(10)
10,230
10.23
5ms
NAV
100
50
1/2
BPSK(10)
10,230
10
10.23
10ms
BOC(15,2.5)
2.5575
G/NAV
CBOC(6,1,1/11)
4,092
1.023
4ms
I/NAV
250
125
1/2
CBOC(6,1,1/11)
4,092
25
1.023
100ms
157.9/
157.0
157.9/
157.0
161.0
157.0
BPSK(1)
177
GLONASSK
PRS
OS,SoL,CS
System
Freq.
(MHz)
1191.795
1176.45
Galileo
1207.14
1278.75
1575.42
QZSS[6]
1227.6
1176.45
1278.75
1561.098
Band
Width
(MHz)
I/Q
Min.
Power
(dBW)
E5a+
E5b
51.15
155.0
Signal
E5aI
20.46
E5aQ
20.46
E5bI
20.46
E5bQ
20.46
E6A
E6B
40.92
E6C
40.92
L1C/A
2.046
155.0
155.0
?
155.0
SpreadingCode
Modulation
Rate
(Mcps)
Period
ENC
Data
Rate
(sps)
Rate
(bps)
FEC
8PSK(10)
10,230
100
10.23
100ms
AltBOC
BPSK(10)
10,230
20
10.23
20ms
F/NAV
50
25
1/2
OS,CS
BPSK(10)
10,230
100
10.23
100ms
BPSK(10)
10,230
10.23
4ms
I/NAV
250
125
1/2
BPSK(10)
10,230
100
10.23
100ms
BOC(10,5)
5.115
G/NAV
PRS
5,115
5.115
1ms
C/NAV
1,000
CS
BPSK(5)
5,115
100
5.115
100ms
158.5
BPSK(1)
1,023
1.023
1ms
NAV
50
50
4.096
163.0
BOC(1,1)
10,230
1.023
10ms
CNAV2
100
50
1/2
L1CP
4.096
158.25
BOC(1,1)
10.23
1,800
1.023
18s
L1SAIF
2.046
161.0
BPSK(1)
L2C
2.046
160.0
BPSK(1)
L5I
20.46
157.9
BPSK(10)
L5Q
20.46
157.9
BPSK(10)
B1
42.0
4.092
I
Q
155.7
163.0
SBAS[8]
1207.14
B2
24.0
1268.52
B3
24.0
1575.42
L1
2.046
161.0
1176.45
L5
20.46
I
Q
I
BPSK(5)
QPSK(2)
QPSK(10)
QPSK(10)
1,023
1.023
1ms
L1SAIF
500
250
1/2
10,230
0.5115
20ms
CNAV
50
50
1/2
767,250
0.5115
1.5s
10,230
10
10.23
10ms
CNAV
50
25
1/2
chipbychip
timemux
10,230
20
10.23
20ms
10,230
2.5575
4ms
LEX
2,000
1,744
RS
1,048,575
2.5575
410ms
chipbychip
timemux
20
2.046
20ms
D1NAV
50
50
BCH
IGSO,MEO
GEO
2,046
2.046
1ms
D2NAV
500
500
BCH
2,046
2.046
>0.4s
2,046
20
2.046
20ms
10,230
10.23
>0.16s
10,230
20
10.23
20ms
10,230
10.23
>0.16s
BPSK(1)
1,023
1.023
1ms
SBAS
500
250
1/2
BPSK(10)
10,230
10.23
10ms
SBAS
500
250
1/2
K=7,...,+6,ENC:encryption,FEC:forwarderrorcorrection,1/2:1/2convolutionalcode,RS:ReedSolomoncode,BCH:BCHcodeandinterleave
OS,SoL,CS
BPSK(5)
L1CD
LEX
Notes
Second
(chips)
I
BeiDou[7]
NavigationData
Primary
(chips)
178
WAAS
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181

Manual RTKLIB 2.4.2

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Manual RTKLIB 2.4.2

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RTKLIBver.2.4.

Installation and Uninstallation

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

(4) OptionalsettingsforGUIAPsaresavedinINIfiles(*.ini)usuallyplacedinthedirectory <install

RTKPOST NTRIPBrowser RTKNAVI

Real-Time Positioning with RTKNAVI

(1) ExecutethebinaryAPfile <install dir>\rtklib_<ver>\bin\rtknavi.exe.(doubleclickthe

(5) IfyouselectSerialasthestreamtype,push ...buttonunderOptlabeltosettheoptionsofPort

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

[arg...] system restart

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

[arg...] configure output message format

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

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

(21) Toswitchtheformatinthetimedisplay,push GPST buttonuppercenterinthemainwindow.You

(26) By pushing the

Configure Input, Output and Log Streams for RTKNAVI

: 1005 1006 1007 1008 1033

(6) Bypushing Options... button,youcansetthecommunicationoptionswiththeOptionsdialog.To

Post-Processing Analysis with RTKPOST

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

button in the Text Viewer

Configure Positioning Options for RTKNAVI and RTKPOST

SINEX station positions can be used as well. An

DCBDataFile InputthefilepathofDCBcorrectionforPPPinCODE filedcbfile

SelectONtoenabletimeinterpolationofbasestation miscdata.IfselectingON,thebasestationdataarelinearly timeinterp

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

Convert Receiver Raw Data to RINEX with RTKCONV

(1) ExecutethebinaryAPfile <install dir>\rtklib_<ver>\bin\rtkconv.exe.Youcanseethe

(8) Push Convert buttontostartconvertingthereceiverrawdatatoRINEXandSBASlogfiles.Ifyou

(14) Afterfinishingtheconversion,youcanseetheobservationdataplotbypushing Plot... buttonwith

(15) Bypushing Process... button,youcanexecuteRTKPOST_MKLAPtoprocesstheconvertedRINEX

View and Plot Solutions with RTKPLOT

View and Plot Observation Data with RTKPLOT

Download GNSS Products and Data with RTKGET

(2) Atfirst,youhavetoconfiguretheURLlistfileforGNSSdata.Push Options... buttoninthemain

(9) Push Download buttontostartdownload.Thethirdmessageareashowsthedownloadstatus

(11) TotestGNSSdataexistenceaslocalfilesbeforeactualdatadownload,push Test... buttonafter

3.10 NTRIP Browser

(1) ExecutethebinaryAPfile rtklib_<ver>\bin\srctblbrows.exe.Youcanseethemainwindow

button. If the status bar shows source table

(5) Bypushingthe MAP inToolBar,youcanopenthemapviewofthepositionsoftheNTRIPmount

3.11 Use CUI APs of RTKLIB

Build APs or Develop User APs with RTKLIB

Rebuild GUI and CUI APs on Windows

Build CUI APs

(4) ExecutemaketobuildtheAPandmake installtoinstallthebinaryfiletoappropriateBINdirectory.

Develop and Link User APs with RTKLIB

Appendix A CUI Command References

start RTK server on program startup

port number for telnet console

port number for monitor stream

terminal device for console

output solution status file (0:off,1:states,2:residuals)

debug trace level (0:off,1-5:on)

set opt [val]

input options from configuration file [off]

set output file [stdout]

-ts ds ts start day/time (ds=y/m/d ts=h:m:s) [obs start time]

(de=y/m/d te=h:m:s) [obs end time]

time interval (sec) [all]

elevation mask angle (deg) [15]

number of frequencies for relative mode (1:L1,2:L1+L2,3:L1+L2+L5) [2]