RTKLIB

-

- -

: :

. 2/2011

e-mail: dvdvjvdc@gmail.com

, 2015.

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......................................................................................................................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

1

: 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].

2

1. -

.

,

[1].

.

: ,

, , ,

.

: , .

.

,

, . ,

.

,

: ,

, ,

[1].

.

, .

: (), GPS (), COMPASS () Galileo ().

, (

) : QZSS () IRNSS () [8].

,

, .

: , .

.

, , ,

: ,

, ,

, [3].

3

. ,

.

,

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, ,

,

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()

, .

( )

, .

, ,

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.

, [7].

4

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 ), ,

.

5

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 -

NTRIP SRCTBLBROWS -

1. RTKLIB GUI CUI [5]

6

2.1. RTKLAUNCH

RTKLAUNCH ( 2) GUI

, RTKLIB . ,

Windows

(Windows Task Tray) GUI .

2. RTKLAUNCH GUI

2.2. RTKNAVI

RTKNAVI ( 3) ,

[5].

3. RTKANVI

7

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/Z-

ECEF (X,Y,Z ECEF ), E/N/U-Baseline (E,N,U

) NMEA0183 ( NMEA ).

, Log

Streams ( L) [5].

Input Streams Output Streams , , .

8

/ ( 4)

.

4. Input Streams Output Streams Log Streams

Start RTKNAVI

. : ,

, ,

( ) , .

. .

, ,

,

(, ), [5].

RTKANVI

. Stop.

, RTKNAVI

, :

9

(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].

. :

, ,

, ,

10

, , 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 .

11

(,

) 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 ),

12

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.

,

.

13

, :

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/

14

) . 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].

15

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% . ,

, ,

16

( , ,

).

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 ,

.

17

9. RTKPLOT

2.7. RTKGET

RTKGET ( 10)

[5]. : IGS ( )

(. ),

, CORS (

) , .

10. RTKGET

18

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).

19

3.

, ( 12),

: RTKLIB ,

RTKLIB ,

RTKLIB Windows

. Microsoft Paint .

12. RTKLIB

20

4. RTKPOST

RTKPOST

. ,

2 . GPS Trimble

4700, L1 L2 , -

- . ,

2 .

( 13). 17. 11:33:44

10:08:59 18. ( ), 15

.

13. ,

RINEX RINEX

, . RTKPOST

21

, ( 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, ,

22

. ,

Options.

15.

,

RTKPLOT ( 16), Plot RTKPOST

.

16. ( Combined ) RTKPLOT

23

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).

24

17. RTKPLOT

25

,

RTKLIB .

:

,

, ,

,

RINEX

, ,

,

, ,

.

.

[2].

RTKLIB ,

( RTKPOST 4.),

,

.

26

[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 Package for GNSS Positioning.

[http://www.rtklib.com]