RTKLIB

-

- -

2/2011
e-mail: dvdvjvdc@gmail.com

, 2015.


..................................................................................................................1
.......................................................................................................1
......................................................................................................................1
1. - ..........................................................................2
2. RTKLIB .........................................................................4
2.1.

RTKLAUNCH ......................................................................6

2.2.

RTKNAVI .............................................................................6

2.3.

RTKPOST ..........................................................................10

2.4.

RTKNAVI RTKPOST ........ 11

2.5.

RTKCONV .........................................................................13

2.6.

RTKPLOT ..........................................................................15

2.7.

RTKGET ............................................................................17

2.8.

NTRIP Browser ..................................................................18

2.9.

CUI RTKLIB ...................................18

3. ..................................................................................19
4. RTKPOST ................................20
...........................................................................................................25
..........................................................................................................26

: RTKLIB -.
-. , RTKLIB
. RTKNAVI, RTKPOST, RTKCONV,
RTKPLOT, RTKGET NTRIP Browser ,
.
RTKLIB
, RTKPOST .
: RTKLIB, , RTKNAVI, RTKPOST, RTKPLOT, RTKCONV.

() .

. .
, ,
.
. , ,
.
.
RTKLIB .
RTKLIB
. ,

.
, RTKLIB RTK-GPS
, RTK
[6].
RTKLIB- ,
[4].

1. -
.
,
[1].
.
: ,
, , ,
.
: , .
.
,
, . ,
.
,
: ,
, ,
[1].
.
, .
: (), GPS (), COMPASS () Galileo ().
, (
) : QZSS () IRNSS () [8].
,
, .
: , .
.
, , ,
: ,
, ,
, [3].


. ,
.
,
. : , ,
, ,
,
. ,
.
()
, .
( )
, .
, ,
.
.

,
.

.
,
. ,
.

, [7].

2. RTKLIB
RTKLIB [5] (open source)
.
.
2006. . RTKLIB ( 1)

. ()
RTKLIB ,
.
RTKLIB : Windows, Linux Android [9].

1. RTKLIB GUI Windows 7 [10]

(
) , :
GPS, , Galileo, QZSS SBAS ( ) [5].
RTKLIB-
. : , ,
, , ,
( RTKLIB ), ,
.

RTKLIB ,
: RINEX, RTCM, BINEX, NTRIP, NMEA, SP3-c, ANTEX, IONEX, NGS PCV EMS.
RTKLIB
(NovAtel, Hemisphere, u-blox, SkyTraq,...).
: Serial, TCP/IP,
NTRIP, local log file FTP/HTTP [5].
RTKLIB ,
: , ,
, ,
, , ,
, , , ,
, , RINEX , ,
, ,
RTCM , , Google Earth KML , SBAS ,
, ,
, , ,
, , RTK [5].
RTKLIB GUI (
) CUI ( ) .
( 1).

GUI

CUI

RTKLAUNCH

RTKNAVI

RTKRCV

STRSVR

STR2STR

RTKPOST

RNX2RTKP

RINEX

RTKCONV

CONVBIN

RTKPLOT

RTKGET

SRCTBLBROWS

NTRIP

1. RTKLIB GUI CUI [5]

5

2.1. RTKLAUNCH
RTKLAUNCH ( 2) GUI
, RTKLIB . ,
Windows
(Windows Task Tray) GUI .

2. RTKLAUNCH GUI

2.2. RTKNAVI
RTKNAVI ( 3) ,

[5].

3. RTKANVI

 RTKNAVI ,
( ),
( ) ,
, .
RTKNAVI

( I). ,
(, , )
.
Input Streams RTKNAVI
. .
: Serial (RS232C USB), TCP Client, TCP Server,
NTRIP Client, File, FTP HTTP. , ,
: RTCM2, RTCM3, NovAtel OEM6, NovAtel OEM3, u-blox, Superstar II,
Hemisphere, SkyTraq, GW10, Javad, NVS BINR, BINEX SP3 [5].
Input Streams
... Opt Cmd,
, .
NMEA GPGGA .
, .
Output Streams ( ).
( Serial, TCP Client, TCP
Server, NTRIP Server File) . Input Streams
. . :
Lat/Lon/Height ( , ), X/Y/ZECEF (X,Y,Z ECEF ), E/N/U-Baseline (E,N,U
) NMEA0183 ( NMEA ).
, Log
Streams ( L) [5].
Input Streams Output Streams , , .

 / ( 4)

.

4. Input Streams Output Streams Log Streams

Start RTKNAVI
. : ,
, ,
( ) , .
. .
, ,
,
(, ), [5].
RTKANVI
. Stop.

, RTKNAVI
, :

 (FIX- , FLOAT-
, DGPS-, SBAS, SINGLE- PPP-
), E/N/U X/Y/Z , Age (
), Ratio ( )
# of Sat ( ).
, : Lat/Lon/Height (//), Lat/Lon/Height
(), X/Y/Z-ECEF (), E/N/U-Baseline (), Pitch/Yaw/Length-Baseline (,
). Lat/Lon/Height [5].
, : GPST (GPS ), UTC
( ), LT ( ) GPST (GPS /TOW)
.
, RTKNAVI ,
(SNR) Skyplot ( 5).
: Base SNR, Rover SNR,
Rover Skyplot, Base Skyplot, Baseline plot Wide-mode Rover SNR [5]. Skyplot

.

5. RTKNAVI
Plot, RTKPLOT (
2.6.), .
RTK Monitor .
RTKNAVI [5].
. :
, ,
, ,
9

 , , SBAS, RTCM
LEX , , , ,
.
RTKLIB STRSVR ,

RTKNAVI . ,
.
2.3. RTKPOST
RTKPOST ( 6)
. RINEX ( 2.10, 2.11, 3.00, 3.01 3.02)
(GPS, , Galileo, QZSS,
COMPASS SBAS), , : ,
, , ,
[5].

6. RTKPOST
RINEX
, .
RINEX .

10

 (,
) SP3-c ,
RINEX CLK .
, IONEX ( VTEC ),
SBAS (SBAS ) EMS (EGNOS ) RTCM 3
( ). Solution
*.pos *.nmea .
RINEX
. [5].
GPS
(UTC, GPS /TOW, , ,
), ( ).
Execute.
( View).
RTKNAVI , RTKPOST
( Plot) RTKPLOT (
2.6.). RTKPLOT
. RTKPOST
Google Earth KML ,
Google Earth . KML ,
.

2.4. RTKNAVI RTKPOST

RTKNAVI RTKPOST Options...,
.
Options Setting1.
( 2.). Frequencies/Filter Type.
Frequencies , (L1
, L1 L2 , L1, L2 L5 ),

11

Filter Type (Forward, Backward Combined).

Elevation Mask/SNR Mask SNR ,
. Rec
Dynamics/ Earth Tides Correction (
) .
Ionosphere Corrections (, SBAS, Iono-Free LC, STEC , IONEX TEC, QZSS QZSS LEX
). Troposphere Corrections
(Saastamoinen, SBAS, ZTD ZTD+Grad ). Satellite
Ephemeris/Clock
. :
PCV ( ) , windup
, GPS Block IIA
( ), RAIM FDE ,
.
Options Setting2.
GPS
Integer Ambiguity Res (GPS/GLO),
. :
, ,
GDOP- ( ),
.
Options Output. :
(Lat/Lon/Height, X/Y/Z-ECEF, E/N/U-Baseline NMEA0183),
, (GPST, UTC JST),
, (WGS84 ),
( ), , NMEA
.
Options Statistics.
,
.

12

, :
L1 L2/L5/L6 ,
,
.
: ,
, .
Options Positions.
(3 ,
), (3 ,
, )
( ).
Options Files.
, : ANTEX NGS PCV
, , DCB ,
, Google Earth *.exe .
Options Misc. RTKNAVI
RTKPOST . :
, NMEA GPGGA NRTK ,
, , RINEX
, ID , , .

2.5. RTKCONV
RINEX ( )
,
. RTKLIB- (RTKPOST)
RINEX . RINEX , RTKLIB
RTKCONV ( 7), RTCM, BINEX
RINEX OBS ( ) RINEX NAV (GPS/

13

) . RTKCONV SBAS
SBAS [5].

7. RTKCONV

: RTCM2, RTCM3, NovAtel OEM6, NovAtel OEM3, u-blox, Superstar II,
Hemisphere, SkyTraq, GW10, Javad, NVS BINR, BINEX RINEX . ,
: RINEX OBS, RINEX NAV ( GNAV-, HNAV-GEO, QNAV-QZSS, LNAV-Galileo ) SBAS .
RTKCONV RINEX 2 3,
. , ,
RTKPOST RINEX .
Convert.
, RTKPLOT
Plot .
, Process,
RTKPOST [5].

14

2.6. RTKPLOT
RTKLIB RTKPLOT ( 8),
RTKPOST RTKNAVI
. RTKPLOT
(GUI). NMEA0183
( NMEA GPRMC GPGGA ) [5].

8. RTKPLOT
, RTKPLOT
. ,
: , ,
.
Q=1:nnn (pp%), 2:nnn (pp%),.... Q
, , nnn
, pp% . ,
, ,

15

( , ,
).
RTKPLOT , ,
.
. E/N/U
, ,

(NSat/Age/Ratio). : ,
X Y-,
,
.
[5].
RTKPLOT JPEG , 3 Google Earth
Google Maps .
( NSat/Age/Ratio).
, RTKPLOT
. Options RTKPLOT
.
RINEX ( 9):
, SkyPlot ,
DOP ,
, SkyPlot
(Elevation Mask). RTKPLOT .
, RTKPLOT ,
.

16

 9. RTKPLOT

2.7. RTKGET
RTKGET ( 10)
[5]. : IGS ( )
(. ),
, CORS (
) , .

10. RTKGET

17

2.8. NTRIP Browser

NTRIP Browser ( SRCTBLBROWS) ( 11)
NTRIP . NTRIP ( RTCM-
) ,
: , RTK
( ) [5].

11. NTRIP Browser

2.9. CUI RTKLIB

CUI ( ) RTKLIB
( Windows-a) :
LINUX, UNIX, MAC OS X . ANSI C (C89)
.
(. ARM) [5].
CUI RTKLIB : RTKRCV ( RTKNAVI),
RNX2RTKP ( RTKPOST), POS2KML (Google Earth KML ), CONVBIN
( RTKCONV) STR2STR ( STRSVR).

18

3.
, ( 12),
: RTKLIB ,
RTKLIB ,
RTKLIB Windows
. Microsoft Paint .

12. RTKLIB

19

4. RTKPOST
RTKPOST
. ,
2 . GPS Trimble
4700, L1 L2 , - . ,
2 .
( 13). 17. 11:33:44
10:08:59 18. ( ), 15
.

13. ,

RINEX RINEX
, . RTKPOST

20

, ( 14) (OBS , NAV

).

14. RTKPOST
Options. ,
(Static). ,
Frequencies L1+2 (. L1 L2 ), Filter
Type ( ),
. Poitions Options,
RINEX (RINEX Header Position).
Options .
, Execute.
, View,
( 15). : ,
, , ...
. :
, 3 , , ,
N (North , . x-), E (East , . -) U (Up , .
z-), NE, EU UN, ,

21

 . ,
Options.

15.
,
RTKPLOT ( 16), Plot RTKPOST
.

16. ( Combined ) RTKPLOT

22

 RTKPLOT-, .
,
, ( 10 ). ,
.
, ,
Q 1 (FIX), (
).
RTKPOST , .
: Forward, Backward Combined.
( 2).

Q=1 (FIX)

Q=2 (FLOAT)

Q=5 (SINGLE)

Forward

1,3%

7,6%

91,1%

Backward

4,3%

2,5%

93,2%

Combined

5,6%

3,3%

91,1%

2.
Combined .
Backward , Forward . , Combined
, ,
, . Backward
. ,
, .
, .
( 13).
, RTKPLOT , :
, , ,
. Google
Earth . .
( 17).

23

 17. RTKPLOT

24


,
RTKLIB .
:
,
, ,
,
RINEX
, ,
,
, ,
.
.
[2].
RTKLIB ,

( RTKPOST 4.),
,
.

25


[1]

. . , . . . .
, -
, -, 2006.

[2]

. . . GNSS-

GOCA.

, , 2010.
[3]

D. Blagojevi. Satelitska geodezija (Uvod u NAVSTAR GPS). Pisana predavanja,

Graevinski fakultet Univerziteta u Beogradu, Beograd, 2007.

[4]

T. Takasu. Introduction of RTKLIB Theory of Precise Positioning. [], Tokyo

University of Marine Science and Technology, Tokyo, 2013.

[5]

T. Takasu. RTKLIB ver. 2.4.2 Manual. 2013.

[6]

T. Takasu, A. Yasuda. Development of the low-cost RTK-GPS receiver with an open

source program package RTKLIB. International Symposiumon GPS/GNSS, International
Convention Center Jeju, 2009.

[7]

V. Bulatovi, M. Vrtunski. Metode pozicioniranja. Prezentacija, Fakultet tehnikih nauka

Univerziteta u Novom Sadu, Novi Sad, 2013.

[8]

[. ]. GPS Global Positioning System Part 1. [],

[ ], , 2009.

[9]

OpenStreetMap Wiki. [http://wiki.openstreetmap.org/wiki/RTKLIB]

[10] RTKLIB:

An

Open

Source

Program

[http://www.rtklib.com]

26

Package

for

GNSS

Positioning.