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RTKLIB Documentation

repository·master·Indexed 25 days ago

https://github.com/tomojitakasu/rtklib

An open source software library for real-time and post-processing of GNSS observations, supporting GPS, GLONASS, Galileo, QZSS, BeiDou, and SBAS. It provides tools for Single, DGPS/DGNSS, Kinematic, Static, Moving-Baseline, Fixed, and PPP positioning modes. Includes various Application Programs (APs) such as RTKNAVI, RTKPOST, and RTKCONV, with support for RINEX, RTCM, and multiple proprietary receiver messages.

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What's inside RTKLIB

  1. Overview of RTKLIB GNSS Positioning

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    RTKLIB is an open source program package for standard and precise positioning using GNSS (GPS, GLONASS, Galileo, QZSS, BeiDou, and SBAS). It provides a portable library and several Application Programs (APs) for both real-time and post-processing modes, including Single, DGPS/DGNSS, Kinematic, Static, Moving-Baseline, Fixed, and PPP (Kinematic, Static, and Fixed) modes.

  2. Build and Run RTKLIB on different platforms

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    RTKLIB's availability depends on your operating system:

    • Windows: Pre-compiled executable binary GUI and CUI APs are included in the package.
    • Linux/Other OS: You must compile and build the CUI APs yourself. The library and CUI APs can be built using gcc on Linux.

    Compiler Options for Library Building:

    • Windows: Use -DWIN32 to enable winsock and WIN32 threads.
    • Linux/UNIX: No specific option required; uses standard socket and pthread (POSIX thread).
    • Fast Matrix Computation: Use -DLAPACK or -DMKL to utilize LAPACK/BLAS or Intel MKL for optimized performance.

  3. Identify RTKLIB Application Programs (APs)

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    RTKLIB provides several tools categorized by their interface (GUI or CUI) to perform specific GNSS tasks:

    FunctionGUI APCUI AP
    AP LauncherRTKLAUNCH-
    Real-Time PositioningRTKNAVIRTKRCV
    Communication ServerSTRSVRSTR2STR
    Post-Processing AnalysisRTKPOSTRNX2RTKP
    RINEX ConverterRTKCONVCONVBIN
    Plot Solutions and Obs DataRTKPLOT-
    Downloader of GNSS DataRTKGET-
    NTRIP BrowserNTRIPSRCBROWS-

  4. Supported GNSS Formats and Protocols

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    RTKLIB supports a wide range of data formats and communication protocols:

    Standard Formats:

    • RINEX 2.10, 2.11, 2.12 (OBS/NAV/GNAV/HNAV/LNAV/QNAV)
    • RINEX 3.00, 3.01, 3.02 (OBS/NAV, CLK)
    • RTCM ver.2.3, ver.3.1 (amendment 1-5), ver.3.2
    • BINEX, NMEA 0183, SP3-c, ANTEX 1.4, IONEX 1.0, NGS PCV, and EMS 2.0

    Proprietary Receiver Messages:

    • NovAtel: OEM4/V/6, OEM3, OEMStar, Superstar II
    • Hemisphere: Eclipse, Crescent
    • u-blox: LEA-4T/5T/6T
    • SkyTraq: S1315F
    • JAVAD: GRIL/GREIS
    • Furuno: GW-10-II/III and NVS NV08C BINR

    Communication Methods:

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